No free program is worth mentioning. The best dvd burning app. is Nero Burning Rom with Nero Recode. Check www.doom9.org for info in ripping\encoding and burning. That site saved my life.
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They have free software which helps you to fit everything on one DVD-R (if you've tried copying DVD's you would've noticed most DVD's doesn't fit onto one DVD-R). Some more free software on there helps you bypass the regional encoding most DVDs have.
I agree with Mun Chien though, you'll need something like Nero or Roxio to finally burn the DVD.