Easy program to rip audio from dvd?

I was wondering if there is a program (easy to use, and understand) that can rip audio from a dvd, and turn it into mp3 files. I have several concert dvds, and would love to be able to listen to them on my ipod. Using a Google Search brings up quite a few different programs to download, but it would be nice to know which one is the best of the bunch.

Thanks for any info, as it is very appreciated...