Assuming this isn't a copyright protected file, which is a big assumption, you can use AVStoDVD to convert an mp4 into DVD-video.
AVStoDVD is free to use, and highly recommended. Install the LAV filters when you install AVStoDVD, it should all come in one package. Use the HC encoder that is included, and use it in a two pass configuration.
To import your MP4 into AVStoDVD, use the green + sign on the right side of the main window.
There is link to a guide I wrote for this program down below, in my signature.