Can I transfer music from iPod shuffle to computer?

Is there a way to transfer the music I have on my iPod Shuffle Gen. 3 to iTunes on my computer? iTunes shows all the music on my iPod but the music itself is not on the computer. Is there a way to copy or transfer the music from the iPod to iTunes on my computer? I'm afraid to try Syncing because I think that is a reverse process where the music in iTunes (on the computer) is transfered to the iPod. I don't want to erase the music on the iPod. Thanks.