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Not free solution: Toast Titanium.
Free solution: convert to mp4 (using iSquint, for example) and burn with iDVD.

Edit: I see you have a MBP. Personally, I hate having DVD media all over the place, so I bought a Mini DisplayPort to VGA adaptor (My flatscreen has a VGA port) and I hook my MBP to the Stereo.
 
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