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DVD Audio Amplification Software Resources?

Hi All, I'm working on my kids' Holiday Play that I recorded on a mini-dvd camcorder (it's Februaray already !!??!?). The sound is pretty weak. I have edited the dvd to cut out the crap and have vob files, etc. Can anyone direct me to a tutorial on how to pull the audio so I can amp it up a little in audacity? I would need to know how to separate it from the vob files and then combine it again hopefully without having to re-master the dvd. Windows or Linux software is fine - I run both. Thanks!


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