Title says it all, well, mostly. I've got several concert DVDs that I'd love to convert to MP3 and CDs so I can listen to them whenever and wherever I want. I know there are a crapload of programs out there, none (at least that I can find) for free. Does anyone have one that's reasonably priced (or, even better, free) that is fairly easy to use and can convert both MP3 or high-quality WAV? (Even if just WAV, I can work with that.)

'Cause it'd be hella cool to be able to blast GNR: Use Your Illusion Live in Tokyo on long drives again.