Download a DVD-ripper program. This software will allow you to rip the video file from the DVD and save it to your computer. A free DVD ripper can be downloaded from the "Aimersoft" or "Xilisoft" web sites.
Insert the DVD into the computer drive, open the DVD ripper program and click "Convert." Once the conversion process is complete you will have a video file of the concert saved to your computer.
Download the Audio Dub program from the "DVD Video Soft" web site. This will allow you to convert the video file into a MP3 file so you may burn it onto a blank CD.
Open the newly saved video file from Step 1 into the Audio Dub program. From there you can edit the file into multiple tracks or just one continuous MP3 file. Click the "Save" button located in the bottom right corner of the program and a MP3 containing only the audio from the video file will be saved to your computer.
Insert a blank CD into your computer's drive. Open the "Windows Media Player" or any other CD burning software you may have. Click the "Burn" tab located at the top of the program.
Click "Open" and search for the MP3 files you created in step 2. Once all the files are in the order you want them to appear on the CD, click "Start Burn." This process will take up to 10 minutes to complete.