As far as I'm aware, there is absolutely NO WAY that you can burn a DVD with a CD-R without ripping and converting!!! Thats why they can charge $800+ for a DVD Burner, but hey, you have one did you say...HELL, you're miles ahead of the rest of us peasants!!!
Otherwise to rip, I would use Smartripper and FlaskMPEG (my favourites) and pretty easy to get a grasp of
