cdrecord
burncd
look at the man page for them if you have them installed
You could try Xcdroast also.
Does your CD Burner support DMA? If not and you have it set for DMA it will freeze. You may need to use PIO mode if it is older
Also do you have the drive or drives on the IDE channel jumpered correctly? Single drive should be jumpered as master. If there's another one on the same IDE ribbon it should be slave.
Drives get auto mounted in you /etc/fstab file. You must be root to edit it. Make a backup copy in case you mess it up.