You might want to look at this guide at videohelp.com He uses five tools, but the main one is TMPGenc Plus. You can download a 14 day trial of that program if you don't have it.
The other tools are free, except possibly a dvd authoring program, and you can download a free trial of TMPGenc Author to use for this process as well. There are a couple of free authoring programs available if you want to check them out---GUIforDVDAuthor and DVDAuthorGUI. Look them up at videohelp.
Good luck. Glad I never run into PAL dvds.