Hello!
My kids are addicted to a particular DVD of Joseph & his Technicolur Dreamcoat starring Donny Osmond (I know, I know). The CD of this particular production is either not available or is outrageously priced and it's not in Itunes. Jason Donovan isn't cutting it with the kids so I thought I'd try to rip the tracks from the Donny DVD and get them on to my daughter's MP3 player for her. Can this be done easily and free? Seems a bigger task than I expected. All expert tips gratefully received.
Cheers!

Depending on the OS on your PC and sound card you may already have record what you hear. Simply play the dvd on your PC and record the audio. If you don't have record what you hear (not installed by default on Win 7) Google Record What You Hear for solutions.

If you have a DVD player on your computer then the free MPEG Streamclip application can be used to rip the audio to MP3 format.

Format Factory will rip the audio to MP3 .
DVD Audio Extractor can be used to rip individual chapters.

Then Wavepad Sound Editor can be used to edit the tracks if you want to remove unwanted dialogue

I use DVD Audio Extractor, can split it up by chapters and can save in a variety of formats. There is a fully functional 30 day trial on the website as well.