Depends on how you define "best".
If best = easiest,
get Roxio WinOnCD 6 DVD Edition (often you get this as bundle with your DVDR drive, where I live), which will accept 480x480 / 480x576 resolution video, put it into vobs and burn it as nice non-standard-DVD.
I've tested this on one standalone so far, and it worked.
If best = DVD-standard with least quality loss
do a multi-pass reencode to 720x480/576 with same aspect ratio flags, and bitrate as high as possible (still <= 8000kbit), to use the full capacity of your DVD. (I guess you want several SVCDs to 1 DVD?)
Demux the audio, do a 2-pass upsampling from 44100 to 48000 Hz using Besweet's SSRC options.
Now author the files individually using IFOedit or DVD Maestro or whatever you got.
If best = DVD-standard, fastest
do as above, but only single-pass
I guess that will do it.