First, you'll need an editing software that can handle HD video. Some popular solutions include Final Cut Pro, iMovie and Sony Vegas.
After editing your footage, you'll need to export it as a standard definition video. Consult your software's manual for specific instructions on compressing video.
Create a DVD menu with software like iDVD, DVD Studio Pro, or DVDStyler. The menu can be as complex or as simple as you like.
Single layer DVD-Rs are generally the most versatile type of DVD. Burning your disc is typically handled by the DVD authoring software, though you can also use a separate application, such as Roxio's Toast.
Always test your DVD before burning additional copies. Check to see that picture quality is up to par, and that the DVD functions properly.