Actually, you're going to need a bit more than PC-GUY's "good start"
First, you need to encode the files to a compliant mpeg.
Get a good encoder. I recommend Mainconcept, lots of people use TMPGEnc, and there are quite a few others.
Convert your avi's using one of those.
Check your mpegs to see what format they are in. If they're dvd compliant, you can author and burn them. If not, you might need to do a bit of transcoding to make them compliant.