sudo apt-get install libdvdread4 handbrake avconv mp3splt mp3splt-gtk
sudo /usr/share/doc/libdvdread4/install-css.sh
sudo apt-get install ubuntu-restricted-extras
Handbake -> Save DVD as mkv file
Extract audio as follows:
avconv -i nameofyourfile.mkv -vn -b:a 192k nameofyourfile.mp3