Ok - launch Nero SmartStart (these instructions are for the latest version)
Click on the "Photo and Video" icon, then select "Make Your Own DVD Video"
Now drag and drop the video clips you would like have on the DVD
When you are done adding vids, click next
Now you should be at the section for adding menus
Use the options on the right for changing the appearance (font, background image, buttons, etc.)
Click next when your're done editing the menu
Now you will come to the Preview section where you can actually test out your menu to see how exactly it will function
Click next when you're ready
Next you can change the other setttings, such as quality, burn speed, etc.
Click Burn to start burning the DVD
That's it!!