Drphoto,
I can't do much more than give you moral support because I'm not sure about the technical aspects of how I did what I did. But I wondered the same thing about a year ago. I started searching on the Internet and after 45 minutes or so found a website with several ripping programs. I downloaded a few, and within no time I was able to rip my DVD of U2 Elevation, strip out the audio, and convert it to a .wav file. I had to find another program that allowed me to divide the file into chapters for each song, and that took some time, but I ended up with a CD with all the songs from my DVD, ready to play in my car.
I've since gone through the same process for a couple of other concert DVDs, and each time I have to re-learn how I did it. Luckily it is pretty intuitive once I find the programs.
What all this means is simply this -- if I can do it, anybody can do it.
Good luck.