MPEGs destined for a DVD must comply with the DVD standard. The encoder will doubtless have a template to guide you. Take care to use the correct standard for your hardware (PAL or NTSC)

If you now have compliant MPEGs, they must be multiplexed with various other information into VOBs. In a professional setup, you'd have elementary streams: Video + Audio(s) + Subtitle(s). The muxing is usually done by the DVD authoring tool (DVD Author is one; there are many others, ranging from inexpensive, template driven types to very expensive all-singin', all-dancin' types). The authoring tool will not only mux the VOBs but also create the complementary IFO files.

Finally, you must burn the files onto a DVD. Be aware that you cannot burn them any old how, as if they were ordinary data. You have to tell the burner that you are making a video DVD so that it can follow burning guidelines. The better burning software will also make a sensibility check on the files and if necessary warn you, before burning, that the resultant DVD is unlikely to play.

-Pete