One I had good experience with on a Windows OS (you didn't mention an operating system for your needs) was DeepBurner. If you dig around on their website you can find their free version.
Here's the page that compares the free version to the Pro version. Good way to figure the differences. DeepBurner
Sorry for the late post. Freemake Video Converter is also a good free DVD burning software. You can also update the version to get more features. Anyway, the free version is enough for me.