You can try using ''IMTOO DVD RIPPER''. It will rip you the whole dvd into one big mpeg file, and after that you can cut the song that you want.
ImToo DVD Audio Ripper automatically detects the music used in the menues, and you just need to uncheck all the tracks and just rip the audio from the menu.
That program rules! The only bad thing I see in ImToo Audio Ripper is that you cannot rip the audio from a single vob vile (without ifo's, bup's, etc)