http://www.imtoo.com/video-to-audio-converter.html
here is a tutorial on the software

http://www.imtoo.com/video-to-audio-converter/guide.html

The trial of this software only converts 3 minutes, i have a older version which converts 5 minutes,  if you would like. There is also another free program which converts as well but it gives the audio a tinny sound to it.

http://www.free-audio-editor.com/otherfreeproducts/free-video-to-audio-converter.htm

Insert the vcd into you’re computer, open imtoo video to audio and click on file, add files, then a screen will come up and you can select which file to open, if the vcd is still in you’re cd/dvd drive it will be in My Computer –> then select you’re disk drive, you are looking for a folder named MPEGAV. open that and there you can select the video files you want to convert. double click on the one you want, or press CTRL A to select all. pick you’re output folder then convert.

This is an article provided by a good friend Andrew from Australia.