How do I download this audiobook onto my iPod touch?

I have a free download of a gossip girl audiobook. It is one one of the discs from my season 1 of gossip girl. It comes with instructions. The first instruction is to insert the disc into my PC’s drive, which I did. The second step says: “use windows explorer to locate the DVD drive and right click on Gossip Girl DVD folder to expand.” I have no idea how to do this! Can someone please help me ASAP because I have to drive 4 hours tommorow morning and I want to listen to it! Thanks so much.