Depending on whether you'd want to customize a DVD menu or not, the two best programs I've come across for what you're talking about is Corel's VideoStudio and DVD Workshop.
VideoStudio is an easy to use application regardless of your expertise or experience. There are options for semi-custom menus (though it's relegated to whatever images & music you want...not much else is customizable) and the quality of the final product is nice as long as the original footage is decent quality.
DVD Workshop is a little more involving, but is also fairly simple to use and you can create professional quality DVDs complete with 100% customized menus complete with text, music, active buttons, etc. plus you can make menus with video files just like some store bought DVDs have. You can even make "easter eggs" in the menus.
You can import your original captured video files into both applications with ease and the results are always satisfying.
I have and use both, so if there's anything you'd like to know more about with them, just ask.