DVD authoring software should convert the source video and create the DVD files for burning. Take a look at a DVD and you will see the VIDEO_TS folder with the content. The software should create all of this for you.
How long it takes to transcode an MP4 file to the MPEG2 format that DVDs use depends on how fast your computer is. It can take a fairly long time.
On mine, ironically, I can convert from MPEG2 DVDs to MPEG4 faster than the other way. No doubt because of optimisation in the programme I use for this.
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