Some programs have a graphic interface and some have text interfaces, a quick check that often works is to see if a programs package includes a desktop file:
$ rpm -ql brasero | grep desktop
Then we can check what categories the application will be listed under:
$ grep Categories /usr/share/applications/brasero.desktop
So on LXDE you'd look under the Sound & Video menu to find Brasero .. on other desktops the menu names will differ slightly but you should find something similar.