You may refer to this
How to convert MPEG-2 .MPEG videos to DVD-Video with menu, without quality loss?

And almost any video file can be burnt to DVD using freeware DVDFlick. You don't even need a tutorial to use it. Note that if you video is not DVD-video compatible, it will be converted to DVD-video format, so there will be some quality loss.

I've also use Replay Converter for burning simple DVD-video discs.