There are many different programs to do what you want. Ulead makes some good all-in-one programs, like Ulead Movie Factory 6 or Studio 10.
Some people, including myself, prefer a separate mpeg encoder and dvd authoring tool instead of a single package. Again, there are a lot of choices. TMPGenc Plus is a relatively inexpensive mpeg encoder that will give you a high quality output. Pegasys, the makers of TMPGenc, also have authoring programs, though I prefer DVDLab Pro, but it is probably overkill for your needs. Free authoring programs include DVDStyler and GUIforDVDAuthor.
I believe all the commercial programs I mentioned have trial options, so try a few and see how they work for you before buying anything.