If it supports the format, this free program is one of the easiest:
DVD Flick:
http://www.dvdflick.net
Features:
(Supported video codecs, audio codecs, container formats, subtitle formats, AviSynth, FFMPEG)
http://www.dvdflick.net/features.php
"DVD Flick aims to be a simple but at the same time powerful DVD Authoring tool. It can take a number of video files stored on your computer and turn them into a DVD that will play back on your DVD player, Media Center or Home Cinema Set. You can add additional custom audio tracks, subtitles as well as a menu for easier navigation."
"= Burn near any video file to DVD
= Support for over 45 file formats
= Support for over 60 video codecs
= Support for over 40 audio codecs
= Easily add a menu
= Add your own subtitles
= Easy to use interface
= Burn your project to disc after encoding
= Completely free without any adware, spyware or limitations"
It's a great tool, even though official development has ceased. Rumor has it someone is working on a future version of it on Sourceforge, but I only use/trust the original.