May I recommend DVDVideoSoft’s free Studio for the PC. NOTE: The installer defaults to installing some annoying almost-malware, like a toolbar for IE, changing your search provider, etc. So be careful to un-tick/check the tick/checkboxes for the extras during installation. But apart from that, it works wonderfully.
You just drag the videos you want into the video – to – DVD converter, select the quality of the output, press go, and it even can directly burn the DVD when it’s finished converting.
It puts up a pretty basic DVD menu; a list of filenames and their www address. If you want a fancier menu, I haven’t looked, perhaps there’s a way, but this was enough for me.