I would personally recommend using these -
dvd decrypter - rips the files from your dvd to save on your hard drive
mpeg - vcr - edit the episode and save as a mpeg
dvd workshop 2 - create menus and burn the disc.
Those are the three main ones i use to create my sets. they are all simple to use and very efective.
LS has info on how to use them on his site -
http://www.digitalfaq.com/