If the videos work fine, I'd recommend you making an iso first, then mounting the iso and then burning again. Tedious, I know, but it's always safer to do like that. Here is a good tutorial about making iso's and burning them with cdrecord.
http://www.cpqlinux.com/cdrw.html
OBS!: I've never made an iso of a vcd before, but it might work just as well... I suppose