Sylvia's Mother --How to record from DVD to CD?

I am going to buy the live DVD that contains "Sylvia's Mother".

I want to record that song to a CD.
(I don't have a DVD player in my car. )

Do you know what computer software/hardware
I would need to rip/burn a copy of the vocals to
a CD? (for a personal copy only)

Any help would be appreciated.
Thanx.

BUYTHECASEOF12@OPTONLINE.NET