according to your probelm:
you can using software TMPGEnc DVD Author to create a dvd with menu between format vcd and dvd (for dvd, i suggested using DVD SHRINK copy into hdd first), if you add incompatibility format files, TMPGEnc DVD Author will appear a frame, thus you have to convert into compatibile format by other software as TMPGEnc, WinAviConverter and etc

i have no idea, why you have to add a audio file to a dvd, as no image for audio file.That's a stupid suggested that you can convert all dvd to mpg1 file, vcd already is mpg1 file and audio files direct burn into a dvd, as dvd player can play it all, but recomend that you create a ISO file for it before you burning.

p.s想不到上pcdvd也可以訓練自己破破的英文還真不錯