I recommend TmpgEnc DVD Author. You can import the contents of your DVD to your project and then edit it, create a menu and burn it. I especially like the editor program, you just cut out the parts you dont want down to the frame and you can preview your cuts as you are editing. It is very fast and easy to use. Here is a link to a free trial.
http://tmpgenc.pegasys-inc.com/en/product/tda3.html
BE SURE TO SCROLL DOWN TO THE BOTTOM AFTER SELECTING "DOWNLOAD TRIAL." THAT IS WHERE THE TRIAL VERSION CAN BE DOWNLOADED
Kevin