A DVD is Standard Definition... export using the MPEG2-DVD preset and import the TWO (audio and video) files in Encore for authoring
CS5-thru-CC PPro/Encore tutorial list http://forums.adobe.com/thread/1448923 will help
The bottom section of the link above has several Adobe links, and other information, on downloading Premiere Pro CS6 and the bundled Encore CS6, and the TWO ADDED downloads for the Encore library content, to author a DVD or BluRay... and the tutorial list includes learning how to use Encore... pay particular attention to the picture in reply 3 at this link - https://forums.adobe.com/thread/1516173