There is no program that is both free and easy.
There are free programs like the older versions of TMPGenc that will convert to MPEG2, which you can then author with other free programs like DVDStyler and burn with yet other free programs like ImgBurn. There are quite a few steps involved and you have to know what you're doing, but it can be done for free.
If you don't want the hassle, you will have to pay for something like ConvertXtoDVD.
There are free programs like the older versions of TMPGenc that will convert to MPEG2, which you can then author with other free programs like DVDStyler and burn with yet other free programs like ImgBurn. There are quite a few steps involved and you have to know what you're doing, but it can be done for free.
If you don't want the hassle, you will have to pay for something like ConvertXtoDVD.