Get the XviD codec pack and download VirtualDub - both free. Use Virtual Dub to grab the files. Use XviD video compression and whichever audio compression works best for you. It'll output as AVI, which AVI2DVD or Nero will burn just fine.
I can't remember which audio compression I use at home, but I know it's none of the MPEG based ones, since those desynced the sound when I tried them.