DVDStyler is the program I use to burn all my movies and TV shows. It can encode your videos from pretty much any format to proper DVD format, and it does it much faster than other free programs I have used. It seems to encode at a rate of about half the time the actual video is, so a one hour movie will encode in about 30 mins.
Click here to go to the DVDStyler website.
I have no problems recommending this FREE program to anyone that has videos they need to burn to DVD.