Help ripping tracks from a DVD

[NintendoHTF1242]

Hey guys. So I bought this deluxe edition CD+DVD album that had the bonus tracks within the DVD. The first four "tracks" are videos; then the last six are songs. But of course when I put the DVD in, it just goes straight to the videos. And I have NO way of opening this disc in iTunes to rip the songs at the quality I want them at.

I was digging through the files of the disc and found the audio tracks as stand-alones; but I can only open them in Windows Media. I could get them onto iTunes but they weren't at the quality I want them at. I was wondering if there was some way to rip these tracks at FLAC or something so I can just convert them in my iTunes? Sorry if I'm vague with details.

Essentials
-DVD has bonus audio tracks
-DVD doesn't open in iTunes for me to rip songs at quality I like (256 AAC VBR)
-I found the audio files, but they only come out to 320KPS, I want all my audio files to be the same
-Looking for way to either extract the files in FLAC so I can just convert them or is there some way for me to open it in iTunes so I can rip the songs at the quality I like

Thanks for any replies.