These are great sites...check the out for sure.
What you are looking for is the "final" process referred to as "authoring" a DVD. This is the process of using the MPEG2 file(s) and creating menus, chapter points, and the .VOB files in the AUDIO_TS and VIDEO_TS structure req'd for a DVD disc.
Lots of good software choices out there that will do this... simply look for "DVD authoring"
HTH...Rob