Must this happen in a terminal?
bash Code:
$ aptitude search burn
p burn - Command line Data-CD, Audio-CD, ISO-CD, Copy-CD writing tool
p cpuburn - a collection of programs to put heavy load on CPU
p libburn-dbg - debugging symbols for libburn and cdrskin
p libburn-dev - development package for libburn4
p libburn-doc - API documentation for libburn library
p libburn4 - library to provide CD/DVD writing functions
p libisoburn-dbg - debugging symbols for libisoburn and xorriso
p libisoburn-dev - development package for libisoburn
p libisoburn-doc - Development package for libisofs
p libisoburn1 - library to enable creation and expansion of ISO-9660 filesystems
p libnautilus-burn-dev - Nautilus Burn Library - development version
i libnautilus-burn4 - Nautilus Burn Library - runtime version
p libnautilusburn2.20-cil - CLI binding for Nautilus Burn 2.24
p mp3burn - burn audio CDs directly from MP3, Ogg Vorbis, or FLAC files
p mybashburn - Burn data and create songs with interactive dialogue box
c nautilus-cd-burner - CD Burning front-end for Nautilus
p vdr-plugin-burn - Plugin for vdr that implements dvd conversion and writing
p xfburn - CD-burner application for Xfce Desktop Environment
EDIT:
Try mencoder (avi -> vob), and then use dvdmenutools to make it a "file", and then use iso tools to burn it.
EDIT2:
http://dvdauthor.sourceforge.net/ ( http://forums.gentoo.org/viewtopic.php?t=117709 )