One thing you can do is to convert the two mp4 files into DV (as has been suggested) using something like ffmpegx or MPEG Streamclip. ffmpegx is freely available, but requires a bit of simple voodoo to install (you have to install three separate libraries) and isn't all that user-friendly. MPEG Streamclip is free and is very easy to use. It's been a while since I've needed it for anything like this, but I think you may have to install the Apple MPEG-2 component in order to do what you need. That can be purchased and downloaded from the Apple store website. I think it's $20.
Convert each file to DV and then import into iMovie, edit and trim as you like, and then send to iDVD to author a disc. That's the "simple" way. Transcoding will degrade the picture quality somewhat, which may or may not be noticeable.
If you don't care about having a playable CD and will just be watching this on a computer or streaming to a TV, then you can use Quicktime 7 Pro to join the two files. All you do is open up one of them, select all, copy, and then open up the second clip and put the playhead where you want to insert the material and paste. Then save as a self-contained movie and you are all done. Picture quality won't change at all, and you'll now have one, full-length file.
Personally, unless you have a strong desire or a pressing need to play the disc on a DVD player, I'd go with the second option. It's much easier, much faster, and won't degrade the picture quality at all.