That's about right. 13GB per hour of DV footage plus a little for iMovie's overheads.
iMovie HD saves everything as a single project file (you can go in and see the bundles if you really want to) which is what is likely the 21GB.
If your finished project is 90 minutes, then you're going to have to use the lower quality level in iDVD (it will be burn 60 minutes at high quality and 120 minutes at slightly lower (more compressed) quality).
If you've also added raw files, pictures or movies, you need to make sure that it's not all coming in at over the DVD's capacity.
Only other problem I can think of that might cause an error is if you don't have enough free HD space on your Mac to create the DVD before the system burns it. You probably need to have a minimum of about 10-15GB free