Some of the answers don't respect comments. Some don't respect sections. Some recognize only one syntax (only ":" or only "="). Some Python answers fail on my machine because of differing captialization or failing to import the sys module. All are a bit too terse for me.
So I wrote my own, and if you have a modern Python, you can probably call this from your Bash shell. It has the advantage of adhering to some of the common Python coding conventions, and even provides sensible error messages and help. To use it, name it something like myconfig.py (do NOT call it configparser.py or it may try to import itself,) make it executable, and call it like
value=$(myconfig.py something.ini sectionname value)
Here's my code for Python 3.5 on Linux:
#!/usr/bin/env python3
# Last Modified: Thu Aug 3 13:58:50 PDT 2017
"""A program that Bash can call to parse an .ini file"""
import sys
import configparser
import argparse
if __name__ == '__main__':
parser = argparse.ArgumentParser(description="A program that Bash can call to parse an .ini file")
parser.add_argument("inifile", help="name of the .ini file")
parser.add_argument("section", help="name of the section in the .ini file")
parser.add_argument("itemname", help="name of the desired value")
args = parser.parse_args()
config = configparser.ConfigParser()
config.read(args.inifile)
print(config.get(args.section, args.itemname))