You will need to re-encode the video to DVD-spec MPEG-2, and the audio to MP2 or AC3. Then you need to multiplex the video and audio streams and author a DVD.
By all means get VirtualDubMod, open the file, have a play around with frameserving to TMPGEnc or whatever. If you're finding the learning curve too steep, try a simple one-click solution such as ConvertXtoDVD.