There is no simple way using DVD2SVCD method and besides I see no real use of a Menu when all you have to select is the main movie anyhow.
If I want to include a menu, I extract it out of the VTS_0x_0.VOB file (the normal home of Menus in most DVD's) with DVD2AVI and then re-author the lot in DVDLab or Maestro. I tend to do my Audio or Episode DVD's that way.
DVD ReBuilder is a later alternative that keeps the original DVD structure of main Movie & all extras, Menus and everything intact and uses CCE to do the encoding. All you can remove is Audio tracks and Subtitles. Still Beta, but works with most DVD's.