Welcome to the site, wessex_exile!
I don't know if it was ever made into a DVD in the same way that Soul Music and Wyrd Sisters was, but I'm pretty sure it was available to watch on YouTube, at least a while back, as I saw it there myself.
Wyrd bið ful āræd.
"Coffee. The finest organic suspension ever devised. I beat the Borg with it."
- Capt. Kathryn Janeway