Rip the DVD with CladDVD XP
Select the Audio stream you want and the Destination folder. You can Spit the file As One Big File if you have NTFS or Split in smaller files if you have FAT32.
NTFS
FAT32
Open Main Concept and add the Video file (the vob file)! Then add the same vob file in Audio source (on Files of type you have to select All Files to be able to add the vob file) then select Output file and Output Format and click Convert!