You can set the frame rate in

You can set the frame rate in Pinnacle 16 while the footage is on the timeline. Look for the little gear icon on the left hand end of the timeline. Click that and set the footage to the desired framerate.

When you'r ready to burn the disc, click Export (top of screen) and select Disc. Under Settings, click on Advanced, and set the output – PAL, NTSC or whatever choices are offered to you. 

Pinnacle is a decent NLE, and has many of the tools to do things any experienced editor would want.