Follow the directions at http://www.zebulon.org.uk/urpmi_en.html
and set up your sources.
Once done, go into "Install Software" and search the descriptions for the words
etc and install any (or all) packages.
You will get numerous programs installed that will permit you to do what you want.
You must first "rip" the DVD to the hard disk then use one of the transcoders to extract the audio stream.
The Audio stream can be saved as a wav file that can be re-encoded to MP3 or burned to CD.
You can also edit the files using many of the provided audio tools.