Encore is a good program for this. You can make a new project, Create a menu (file>New>Menu) then you Make a new timeline (file>New>Timeline) then you drag the desired video into the timeline. Then you go to FlowChart (top right tab on source box) The you drag the dvd icon to your menu and the play button on your menu to your new timeline. Then Go to the build tab and check the project. then if there are no errors press build. Done!
Sorry if that is a lot of info, and its pretty vague so let me know if you have any more questions.