I'll second the www.videohelp.com

But to cut through all the crap this is what you do download IMG burn (it's freeware)http://www.coujo.de/ib2/index.php?ac..._name=download
I think you need Nero to run it but I'm not positive. I downloaded Nero (which ain't free, just download the trial version then never open it just leave it on your HD)

People will tell you just use Nero, but I found this much easier to use. It's all automated(no dragging files or determining which ones to use).
With IMGburn you just click the "directory" button locate your "video-ts" folder the click burn. That's it. In about 15 minutes you'll have a dvd.
By the way I think most burning hardware now uses DVD+R (they may or may not be compatible with DVD-R, so I just stick with the DVD+R)