In reply to Enty:
The next step is to create the DVD in an authoring program, Download DVDStyler.
http://www.dvdstyler.de/
Since I used this last the program has been improved, it now seems to accept non DVD compliant files and transcode them, which means it is going to be easier to use the original mp4 file rather than the mpeg2 you created earlier (sorry about that, but don't get rid of it just yet.)
Drag the mp4 clip into DVDStyler, it should appear at the bottom of the window labelled as ‘Title 1’ next to ‘Menu 1’ which should be present by default. You can create buttons for the menu to play the clip or jump to chapter points within the clip, if you want to do that just say and I'll help you through that, but if you just want to shove it in and have it play once, or continually loop, that is very simple.
For a put it in and play through once DVD:
Go to the ‘Configuration’ menu and select ‘Settings’ set ‘Default video format:’ to NTSC 720x480 16:9 and ‘Default audio format:’ to AC3 48 kHz. See below about chapters, but you can set the number of minutes between each automatic chapter point here too.
Right click on ‘Menu 1’ select ‘Properties’ verify ‘Format:’ is set to NTSC 720x480 and 16:9 Set ‘Pre commands:’ to jump title 1;
Right click on ‘Title 1’ select ‘Properties’ make sure ‘Video’ is set to 720x480 and ‘Audio’ is set to AC3 48kHz. In the ‘Chapters:’ box should be a series of time codes, chapter points will be put at these points and if you create a chapter menu you can add buttons to jump to these points or you can skip forwards or backwards to these points using the DVD player's remote control, it may be worth opening the clip in your normal media player and identifying time codes where you would like chapter points, for example if there is a really good bit you want to be able to find easily, and replacing the existing times with your own. Delete any entry in ‘Post Commands:’ click on the ‘Video...’ button set ‘Format:’ to ntsc, set ‘Aspect ratio:’ to 16:9.
Save the project.
Goto the ‘File’ menu and select ‘Burn DVD’ tick ‘preview’ and select ‘just generate’ if you are happy with it burn your DVD.