A couple of simple command lines to help anyone having trouble with this, guides in the wild are old and varied!
Make an ISO: genisoimage -dvd-video -o dvd.iso /pathto/AUDIO_AND_VIDEO_TS
Burn the ISO: growisofs -dvd-compat -Z /dev/scd0=dvd.iso
There's just something about using CLI utilities to produce a DVD, especially if it's a video disc, that strikes me as odd. But it almost feels naughty, so it's so tempting!
Another great cli tool for making and burning DVD's is tovid. i even have it setup as a thunar custom action. Tovid also has a gui front end as well.
I also like dvd-author, mjpegtools and mencoder for creating videos. Mplex (example: mplex -f 8 -S 0 -O -66ms -o filename.mpg filename.m1v filename.ac3) can put demuxed video files back together. mpgtx can demux them. There's also mkisofs (similar to growisofs). There are some great resources at videohelp.com including a Linux section in their forums http://forum.videohelp.com/forums/23-Linux