Load the disc, open Disk Utility (Applications>Utilities folder), select the disc in the pane on the left (select the top level of the disc next to the disclosure triangle), choose the 'Erase' tab on the right and click 'Erase'.
A quick erase should be sufficient, which will delete the disc's table of contents (a list of what's on the disc) without actually overwriting the files themselves.
If you want you can do a full erase, which will actually overwrite the files too, leaving a real blank disc from which the old files should not be recoverable. This is not necessary unless you need to know the files are gone, gone, gone before you use the disc again.