The easyest way to do it is to use ULead DVD Factory 3.5, it's dead easy to use, will do all the conversion and menu's etc... for you
Captain Crabs, November 2004
(Added to my answer)
I did not add on how to burn it to dvd.
Once tmpg has made your MPEG2 file and audio you will have to then convert it to VOB files this can be done in DVDlab and can also be burnt to DVD from DVDLab. There are programs that will take all kinds of video formats and make a dvd from it but the quality is not as good as the process from TMPG and dvdlab.
tez, October 2004
DVD format uses a file type called VOB which is MPG2 format so you need to convert it to this format. TMPG will do this for you and has a nice wizard build in if your not sure on settings.
the res for pal is 720 x 576 audio at 48000hz, 25fps. 29fps for US.
If you would like to make a nice menu then I recomend DVDLab.
This advice is directed at general usage for coverting your own movies that you own. Good luck!
tez, October 2004
edit
I can answer this question...
how do i convert mpeg to dvd format and copy it to dvd disc?