ConvertXtoDVD will do the job quite well. I have used it many times for the past three or four years to convert a DVD from PAL to NTSC. The video and audio are converted seamlessly with no loss in quality.
I also use ConvertXtoDVD to convert .mkv files to DVDs, since my DVD player will not recognize .mkv files. ConvertXtoDVD handles this type of conversion just as well.
There are guides on their website for doing various things with ConvertXtoDVD. Very simply, ConvertXtoDVD is a great tool. Good luck!