AVI2DVD is a pretty capable program. Probably not the best to create menus, but I cannot really say since I havn't tried those options. But best of all, it's free, and I have used it often in the past. Fairly easy to use also.http://www.trustfm.net/divx/SoftwareAvi2Dvd.php
There is also ConvertXtoDVD that is probably better, but I don't think it's free.
"The mind is like a parachute: it doesn't work unless it's open"... Frank Zappa