I dont know of any free ones, but for a trial version that has unlimited features and no time limits there's dvdsanta...It will just have some writing at the top of the screen in the output video, but you can over come that by zooming in a frame with your dvd remote..
santa will convert and burn in 2 easy steps...
This is the link....
http://www.dvdsanta.com
Then there's Nero it also has a trial version available...