DVD to digital, how to?

I am cleaning up my studio a bit and I came across a DVD my son did of one of my band's practice sessions.
 
I suspect I can get this into my DAW pc as I have Sony Vegas and google tells me I can open the VTS-01-0.IFO file with Vegas, maybe so, but I don't have much HD space left immediately available on this pc. I would prefer putting this onto my newer family pc.
 
My goal is (right now) to get the audio off of the DVD.
 
Does anyone know how to do this? Move my DVD onto my family pc e.g. movie maker and then get the audio off?
 
Secondly, has anyone ever gotten the movie plus audio from a DVD into Vegas?
 
Much appreciated.

Thanks Bjorn!
 
I will do that and see how it goes, as I mentioned there was enough online via google to say it would work but I've been too busy with other projects to give it a try. Come Monday (isn't that a song...it'll be all right, I'll be holding you tight...something about brown LA haze...), I've got a chance to give her a go.
 
Incidentally, are you Scandinavian? My wife is from Norway and my family (Kjonaas = Tsonaas) is from Telemark.
 
Thanks again :)

Reiser du ofte til Sverige?

My wife, tho from Kristiansand, has a 1st and last name that is Swedish, since both her great grandparents on both sides come from Sweden. She asks:
 
Hvor I Sverige kommer du fra?
 

Thanks AMB
 
What I actually did and it worked well, was simply place the DVD in the pc, bring up Vegas, and File / Import DVD Camcorder Disc.
 
It worked like a charm and now I have a lot of old practice band tapes which came out really good and a memorandum since my keyboard player Tommy is dead, and my bass and one of my drummers have left Madison for the Rez up North.