VideoReDo is a popular editing program that also works with dvr-ms files. It’s not free but well worth the cost if you do a lot of editing. It will convert dvr-ms files to other popular formats that are easier to shrink using apps like DVDShrink or DVD-Rebuilder. If you’re working with HD files, you might want to use HDTV2DVD to convert the HD files to a standard def resolution for burning to DVD. It’s a freeware app that can be found here:
http://www.svcd2dvd.com/HDTV2DVD/
You need to input the files as transport streams (.ts files), which VideoReDo can create for you. Edit the dvr-ms file in VideoReDo and save it as a .ts file. Drop the .ts file into HDTV2DVD and it will create a complete set of DVD files ready for burning. If the files are too large to fit on a single DVD you can shrink it with DVDShrink or DVD-Rebuilder.