You'll need to buy a program to do this.
Good ones are simply drag-n-drop easy. You choose from among several templates of opening screens, type the DVD name in a field, and specify all the chapter titles that'll appear on the screen.
You'll create a "chapter" by dragging all the videos to a point that will be seen for that chapter. (When the chapter is selected on the home screen, those videos will be viewed and in the order you have them listed.)
When you've done this for each chapter, then you tell it to make the file and burn it to disc.