I am having trouble finding the DVD menu images (so that I can make VCD mpeg stills for my VCD menu)

When I play the DVD in WinDVD, it shows up in the Title 1, Chapter 2 and some other sub-menus appear in Title 2, Chapter 8.

My main movie is in Title 3 and 4 (6 chapters each)

How do I go about getting the DVD menu images?

Thanks