MP4 cannot be burned or authored to DVD, and must first be converted.
The best all-in-one for this is
ConvertXtoDVD. I still have/use version 3, but they're up to v7 now. It's payware, about $5, but the only thing that works well AND makes the whole process simple. Freeware exists, but for a more manual approach.
Nero is terrible, always has been, don't use it. It'll make a mess out of your videos.
Ulead DVDWS2 is great, but only for MPEG files, ready for DVD authoring.