Same as a regular VCD or any other kind of XVCD. The audio will definatly need re-encoding though and I am not sure, but I guess the video may not be DVD compliant.
Probably the easiest program is TMPGEnc DVD Author. Yoy may however want to re-encode the video to full res MPEG2 for this I would use CCE, frameserving the mpg via AVISynth.