Burning a random video to dvd video format is a three-step process.
1) You have to convert the video to dvd-compatible
video and audio, usually mpeg2 video and mp2 or ac3 audio within specified ranges. This can be done with a variety of tools, such as ffmpeg, mplayer, or avidemux.
2) You have to create a dvd-video menu and directory structure for the video, i.e. "author" the disc. The only true dvd authoring program on Linux is the cli dvdauthor program, but at that level you have to be a real expert to do it right. Fortunately there are several gui authoring programs that frontend for dvdauthor, such as dvdstyler, qdvdauthor, and bombono, which allow you to design graphical menus for your completed disc. Of course the menus can be as simple or as complex as you want, even nonexistent. But the basic structure of the disc still needs to be created.
3) Finally, use standard dvd burning software to burn the VIDEO_TS directory that these programs create to a blank dvd-r (in dvd-video mode, of course).
Some programs will integrate and/or automate some or all the above steps. Devede has already been mentioned. There's also tovid. Qdvdauthor is supposed to be an all-in-one solution too, but I've always found it to be very buggy and unstable. YMMV.