Here we will use Womble EasyDVD to do this job. It is not freeware, but don’t worry because you can try it for a month, without any limitations(no watermark, no function disabled or crippled). You can free download Womble EasyDVD here. You can also learn the other guides about Womble EasyDVD by following the links below:

• How to create a basic DVD with Womble EasyDVD?
• How to remove unwanted scenes from DVD movie without re-encoding?
• How to put(combine, merge) multiple DVDs on a single DVD?

Now let's begin…

Step 1. Run Womble EasyDVD, below is the main EasyDVD window. First we need to create a new DVD project. To do this, click "New" button in the Start stage, we will be forwarded to the Source stage.

Note near the top of the main window, there is a navigation bar consisting of 6 buttons, "Start", "Source", "Menu", "Preview", "Output" and "Burn". These buttons represent the various steps in DVD authoring. Only Start and Source steps are accessible when we start EasyDVD, and the other steps are disabled since the project is empty. As soon as we add video files to the project, those other steps will be enabled, then we can jump to any step by clicking on the corresponding button.

Step 2. The Source stage is where you can load your input video files, perform some basic editing if needed, and create chapter points.

Before we add in our input video files, you might notice that there are actually two "Add" buttons here. Well, the top "Add" button(1), with the movie reel icon, is for adding what EasyDVD refers to as "Movies". The bottom "Add" button(2) with the film strip icon is for adding "Clips". A "Movie" generally contains one or more clips; and each clip can be a single video file, or a whole or a part of a DVD movie.

EasyDVD treats each Movie as a separate Title on the DVD(A DVD ‘Title’ is generally a logically distinct section of a DVD-Video. For example the main feature film on a DVD might be Title 1, a behind-the-scenes documentary might be Title 2 and a selection of cast interviews might be Title 3). In this example we will add three Movies – two main movies and a short intro video. First, click the top "Add" button in Movie Manager(the upper left window). In the pop-up Open window, find the first "Movie"(1) you want to add and click Open(2). "Open DVD Folder" can be checked(3) if you want to add a full VIDEO_TS folder, with DVD files ready to use.

After adding the first Movie, an icon named Movie 1 is added in Movie Manager window to represent the movie and you will notice that Movie 1 consists of 4 video clips in the Clip Manager window(the lower left window). If you want to add more clips to the Movie, you can click the  "Add" button in Clip Manager window and then add more video clips.

To add the second main movie(Movie 2)and the intro video(Movie 3), simply click the "Add" button in Movie Manager and repeat the steps above. Now you can see a Movie List with 3 Movies.

Since Movie 3 is the intro video, we will then select it as the "First Play" item so that it will play at the start of disc insertion, before any menus are shown. To do this, click the icon of Movie 3 and then click on First Play button, we have then selected the intro video as the First Play Movie. Notice that the First Play Movie is visually identified with an icon image distinct from a normal Movie icon.

Then you can edit the label of the movie, perform some basic editing, and create chapter points if needed. For details, check Step 2 of How to create a basic DVD with Womble EasyDVD?

Step 3. Now click Menu at the top buttons. Here we will add DVD menu.

To quickly add DVD menu, you can click  and select a ready menu template from the list. You can also make your own one where you can change the background to a personal photo, add background music, reset the menu button style and so on. Here I will simply use the first template.

To apply a menu template, just select and double click it. Now we have added menu for the DVD, you will notice at the bottom of the right menu preview window there is a menu page list which consists of 4 menu page thumbnails. You can click on each menu page thumbnail to preview or edit the menu page. Here page 1 is main menu, the next three pages(page 2, page 3, page 4) are sub-menu pages (movie menus). On main menu page there are three buttons each of which is linked to corresponding movie menu.

Since we want the DVD to automatically return to main menu after completing the intro video playback, we  need to go Source stage and set an End Action for the intro video. Now in the Source stage, right click on the intro video, select End Action and Page 1(main menu). By doing this, DVD will return to main menu after finishing playing the intro video.

Now we go back to Menu stage, here we will delete the intro video menu page(page 4) and its button on the main menu page. First select the third button on the main menu page and press Delete on the keyboard to delete the intro video button on the main menu.

Then select page4 in the menu page list and press Delete key to delete the intro video menu page.

Step 4. The most critical steps of adding intro video are setting First Play & End Action in Source stage and deleting intro video menu page and its button on main menu page in Menu stage. When finishing the steps above, we can then go to the next three steps: preview, output, burn our DVD.  For details about the next three steps, you can check How to create a basic DVD with Womble EasyDVD?

Done.