Doom9 has guides for this. I would rather buy a software package, possibly in some DVD authoring software to do this, if it can do it without a lot of manual intervention.

Are there any for say, less than $100? Any recommendations?

Thanks.

Hello,

All depends if you wish to absorb your purchase.
I hope that the quality and the benefit of your software is without call.

DVD Santa does it. There is some quality loss. How much depends on the quality of the source material. I'll probably just buy a dvd player for my living room that has a built in converter.

I don't know this software too well, but I suppose that it is an all in one.
For my part I avoid it. it is as music: to prefer the separated materials that of the all in one.
But I don't understand that you prefer this option whereas many software of transcodage video exist.
You say it if well, Doom9s, DvdRhelps and others sites answer your needs concretely or even your requirements.

If it is your choice, make the good choice that deserves your wallet.