How do I import audio from a dvd?

As you have discovered, iTunes does not read DVD audio.
You can use Audio Hijack Pro
Ambrosia software has WireTap Pro, which works the same. However , it was recently updated this to WireTap Studio ($69) and discontinued Wiretaps Pro, which was ~$32.

Chris,

Could you please explain why this solution is less illegal (and therefore 'discussable') then the numerous tips on converting dvd's into iTunes? (the latter being correctly removed from the forum)

It's currently unclear if actually copying a DVD is illegal. What is illegal under the Digital Milennium Copyright Act, is breaking the encryption on commercial DVDs (a necessary first step in copying). Recording the audio as it is played by your computer (what is sometimes called the analog loophole) is still, apparently, covered under the older fair use laws. So, as long as you're just recording the sound for your personal use, I think you're okay. Burn it to CD and sell or distribute it and you've crossed the line

I wasn't aware of how this software works, but the way you explain it makes sense. It's good to know where the line is drawn anyway 😉. Thanks!

have a look on www.discogs.com
It lists lots and lots of music releases , the soundtrack tracklist might be on it