You can also do this with Toast 7.
Put VIDEO_TS folder from concert DVD on desktop.
Launch Toast.
Select Video tab, choose DVD-Video in drawer.
Click on Media option in drawer.
Select DVD from pop-up list.
You will see a list of the DVDs titles and chapters.
Drag/drop any title or chapter into the main Toast window.
Click the Export button at bottom of Toast window.
Export "for iTunes" to strip out the audio from a video.