Yeah, I used paid apps for this, so I don't have a recommendation for a free one. I remember using cucusoft, xilsoft and SuperDVD Creator. It's been so long ago that I don't remember why the free ones weren't as good, but it might have been that the audio/video was out of sync or something like that. You could try
this one if you want a free one, but it was just something I found on Google right now, not one that I've actually tested. Hopefully, someone else will chime in with a recommendation for a good, free solution.