Yes. Check the sticky
List of Useful Topics. There are a few ways of doing it depending on how you want it and many related dvd factors. One or more of these topics should apply to you. More info is needed if you're still not sure on how to approach.
Maybe the section
"How to make part 1 (side A) and part 2 (side B) of movie to play continuously" without menus applies to you!?