I use TMPGEnc which has not let me down yet - there are 2 components, the original program which will convert files from one format to another, and should cope with making your MPEGs DVD compliant, and an authoring program which will allow you to add menus, put them into the correct directoy structure, and burn the DVD.
TMPGEnc
TMPGEnc DVD Author
There are guides for both of these, plus various alternatives on the DVDRHelp.com site mentioned earlier.