Use DVRMSToolbox to convert the dvr-ms files to mpeg. No degradation of quality doing this, you’re just taking the mpeg2 out of MS’s weird proprietary file system.
Now that it is an mpeg I’m hoping that you have been recording in dvd compatible resolution and frame rate. Are you in the UK? If so you need the mpeg to be 720 x 576 resolution and 25fps, using ac3, mp2 or pcm audio at 48khz. Check this with Gspot Video Utility or MediaInfo. These are PAL specifications by the way. If you are in the US, you would need NTSC specs.
If they are compliant, you can use a simple authoring tool like DVDStyler or DVDAuthorGUI to make your dvd.
If you need to reencode them and then author the files, you can use DVDFlick or AVStoDVD or FAVC. Any of those will produce a finished dvd ready to burn to disk.
All of the programs I have mentioned so far are free to download and use. Some have free additional programs you might have to download as well, like AviSynth (FAVC is one that requires this).
If you want a program that can do all this in one package, and cut out commercials as well, look at VideoRedo TV Suite. It is not free, but there is a trial for you to test if it would suit your purposes.