okie i just told somebody how to do it a couple of days ago lol
u can use virtualdub to rip audio from a vcd file.
http://virtualdub.sourceforge.net/
it's real easy. after u download it & extract it, open the program up and open ur vcd file in virtualdub. then go to file, save WAV
after u rip ur audio file from ur vcd open it up in audacity (http://audacity.sourceforge.net/) and then click on the lil triangle to open up the drop down menu. it's where the name of the file is above the Mute and Solo buttons.
then click on split stereo track and then x out the Right channel. the Left is da music part.
then click on file, export as wav or export as mp3