Hello,
there is still a special format for DVD-Video.
1. You have to prepare the mpeg
1.1. demux the file (split pictures and sound)
-> I prefer "avidemux" but you can also use "transcode" as a very powerful commandline-tool
2. you have to mplex sound and pictures with a utility
-> I use "kavi2svcd" with the mjpegutilities choosing DVD-format
3. You have to master the DVD for Chapters, Menus etc
-> I use "dvdwizard"
3. Burn the files to the DVD in the proper format
-> I use "k3b" (Projecttype DVD-Video)
I have found all these programs at
http://packman.links2linux.de
If you use Suse you can put this site to the installation repository of YAST.