Is there a way to extract an audio from a DVD?

[AznRocky]

I like this song in the main menu of a dvd and is it possible to extract it?

[RealitY]

Heard this is decent...
http://www.imtoo.com/dvd-audio-ripper.html

[AznRocky]

i dont see option for mainb menu music, only the audio from the movie!