I assume you have a dual track DVD (audio and directors commentary/dub or something) and your stock player is playing the wrong one as the default. Do however check your player- they can be set to default to a given language over that of the DVD default (I have occasionally ended up watching a Japanese dub of an English language film due to such settings and similarly I have quickly authored DVDs myself and forgot to change these and equally had commercial offerings do the same thing- usually as subtitles mind). If you encoded with the wrong audio some of the tools and techniques below can also help but it will take a bit more effort as you will probably have to remux things.
You have a few options- the simplest from the end user/one not so familiar with DVD internals perspective is to use one of the transcoding tools like DVDshrink (
http://www.dvdshrink.org/ ) as they also feature half decent reauthoring abilities. It will see a complete rebuild of the iso but it will be limited by the speed of your hard drive rather than anything else and as long as you make sure it is not changing quality it will be very quick, you probably will have to extract or otherwise mount the iso as most of these tools do not work work with isos. For the sake of a file only a few kilobytes in size you might as well do it properly though so moving on
The audio track (and most other good stuff in DVD videos) is controlled by the ifo files (.bup are backups of them), there are countless editors out there ranging from the fairly simple (ifoedit:
http://www.ifoedit.com/guides.html ) to the very complex but incredible powerful (PCGedit:
http://download.videohelp.com/r0lZ/pgcedit/ , it does however manage the many functions but basics are simple enough ) and several things in between (and other programs with basic functionality in this arena- vobblanker for one and rejig for another).
As a bonus though a guide to do exactly what you want to do:
http://forum.doom9.org/showthread.php?s=&threadid=60444
http://forum.doom9.org/showthread.php?t=45440 - for subtitles but it corresponds to audio as well.
http://forum.videohelp.com/threads/270433-...ie-only-backups
Once you have fiddled with the ifo file you will have to inject it back into the DVD, this should not be too hard and probably could be done with a hex editor as the size should not have changed but more likely you will want a tool. Assuming an iso rebuild is not on the cards there are iso editors like ultraiso but that is paid software (good though), I have not found a decent freeware equivalent however.