Just slap the dvd in your computer, download the freeware SUPER at http://www.erightsoft.com/SUPERsnap1.html
and install it.
Then run it and at the bottom "ADD VALID MULTIMEDIA FILE" try one of the .VOB files from the dvd (in the VIDEO folder) and select the appropriate format (.wav) you want to convert to.
Once you rip the audio, use a wav editor to snip the beginnings and endings of that .VOB file.
If you just want the opening theme in MP3, pm me, I can send you one.
I ripped a lot of samples for my trailer park mix song, so I have that in my archives too.