VobBlanker and Remake are fine, but you will end up with chapters without menu to go to them. For those apps you have to create menu in other software and import in.
If you made DVD from VHS, the best way would be to get authoring software to make proper DVD with menus and chapters.
There are some simple once like Nero, TMPG DVD author and some more sophisticated which have lots of options like DVD Lab either Studio or Pro.