There are Two Simple Methods:
1) Create a folder and name it the title of the DVD. Then inside this folder create two more folders: AUDIO_TS & VIDEO_TS (CaSe SeNsItIvE).
AUDIO_TS (always empty)
VIDEO_TS (This is where all the .IFO and .VOB file goes.
Move all of your files in to the VIDEO_TS folder. Then open your burning program. You will want to add both VIDEO_TS and AUDIO_TS to your compilation. If your burning program is like Nero and has a DVD Video option, use that.
2) Another way to do it is, after you make the folders, load the DVD folder into DVD Shrink. Then use Shrink to output to ISO and burn the image with DVD Decrypter.
The .VOB files you have are like 7 Gb. That's probably a DVD RIP from a Dual Layer media which supports approximately 8.5Gb
To fit on a DVD5, or what we call a Single Layer, you will need to Shrink Compress) them.
DVDShrink does an excellent job, and it's free.
Then use any burning software to burn it.
Make sure you make a Video DVD (With the 2 dirs mentionned above).
This should give you a good start !