Remove the title and edit

I have recorded a program on the standalone and now I need to transfer this to the pc for editing, I want to remove some adverts and make a menu.
What I dont want to do is wait for hours for it to recode the video. There was a fast way on the old DVD+RW forum but me old brain cannot remember it.


Demux the audio and video (DoItFast4U for example)
load the A/V into Cuttermaran (free) or Womble (pay) and edit out adverts
load editted A/V into DVD Authoring software and create a menu.
No recode needed.