Record sound from dvd

Hello all

I have a DVD here that plays fine with VLC and Totem and the likes. I would like to record a piece of sound of it and burn it to a CD. How can I do this? I tried Sound Recorder, selecting Digital as input, but the quality was very very bad.

Thanks for your time

I believe avidemux will do this. I've done this before, and I think I used either avidemux or acidrip.