While there are a number of options to get purchased music off the iPod, Apple offers absolutely no official way of retrieving songs you've ripped yourself.
However, luckily, there are 3rd party utilities that can copy music directly off an iPod.
SharePod may be the easiest utility for you: http://www.getsharepod.com/
Download and install SharePod on the computer.
Once you have the above installed, connect your iPod to the computer. If iTunes starts, quit it.
You should see options like "Backup iPod" or "Copy to PC" and have the ability to import them automatically into iTunes (there will be a checkbox).
Once you are finished copying them from the iPod, Quit SharePod and then disconnect your iPod from the computer.If you continue to have questions on this topic, just reply back to this discussion. I will be more than happy to work with you further. Hopefully, this info will answer your question
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Thanks and good luck,