Dvd Menu Creation, How? What Software?

My brother has 10 episodes of a tv show on individual dvds and he would like me to combine several of his favorite ones on 1 dvd. He would like to be able to
select the episodes with some type of menu. What is the easiest way to accomplish this. I tried to do it with Sonic My Dvd and it does not recognize
the files I create when I rip the individal episodes.
Any help is appreciatted, Thanks, Budzos