DVD Burning programs

So I'm a little behind on the times when it comes to DVD burning. I recently bought a computer that can burn DVD's which is great and have burned several DVD's of files for back up. What I am looking to be able to do now is burn a DVD that will play video files like avi. mkv. mpeg. ect. that I have on my hard drive in my DVD player (a Playstation 2). I'm asumeing that I will need some kind of encryption program and am looking for suggestions of good ones that I can download for free. And while its not nessicary it would be cool to maybe make a menu or something for the DVD's I am burning

I guess I was here for a fucking suggestion.  I don't need a person to hold my hand thru using a program just some suggestions on programs you may use and recomind before I go looking my self.