Use Audacity - it's open source, works on Windows, Linux and Mac OSX, and is very very good.
I run the headphone line into the mic socket - play with the settings to get it right and then play the DVD - recrd it as MP3 and use Audacity to edit out the gaps.
Cost = free.
Results = as good as your equipmnt allows.
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Overhead, the Albatross hangs motionless upon the air,
And deep beneath the rolling waves,
In labyrinths of Coral Caves,
The Echo of a distant time
Comes willowing across the sand;
And everthing is Green and Submarine
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