Best Program for combining Images and Videos onto a DVD with menu
Adobe Encore can do what you are looking for.  It is included with Adobe Premiere.  You can either buy a copy of CS6 or if you only need it for the one project, you can use Creative Cloud to obtain it for just a month or two.

In general, you will find most DVD authoring software comes in fairly expensive packages.  It's not as easy as you would think to do and not a lot of software does it.  The options now are cheap in comparison to how much it used to cost.  When I first did DVD authoring, it cost $2500 to get DVD authoring software that crashed every 15 minutes or so.