I personally use DVD Decrypter (though you can use any DVD ripping program), rip the DVD, then to get the audio I load the ripped VOB files into DGMPGDec and choose "Save Project and Demux video", with the option "Decode AC3 track to WAV" selected in the Audio menu. Then I load the wav file(s) into Audacity or Premiere and edit it down the specific portions I want.

Reading it all typed out here may make it sound like a lot of work, but honestly it doesn't take more than a few minutes, even if you've never done it before.