FREE? Be real!
I understand alot of users have low income. I'm one of them. But if you want something good, you'll need to pay for it. How much greatly depends...
I use Adobe Encore. It offers a large variety of tools to create professional DVDs. And, its not that difficult to learn. About $350
If you want something scaled down and in all 1 package, Gear Video 8. It's around $60 and you can capture, encode, author, burn and duplicate DVDs. I only use it for burning and duplicating but it does the other stuff as well. I just can't answer how well it does it.
Gear Video 8 will also burn to as many burners as you have installed simultaneously. Thats the only reason I bought it. It supports all the DVD formats and CDs as well.
For an inexpensive all-in-one application, I recommend it.
http://www.gearsoftware.com