If you have a DVD burner it likely came with some kind of software. I use a program that came with my HP DvD writter and it works great (it's not made by HP, and I don't have it installed right now so I'll get a name later).
It basically lets you do everything that Windows Movie Maker does but faster, easier and includes several other features.
Note: If you want to add 'chapters', good luck
It can be very dodgy with most DVD programs