I would like to back up some VHS tapes to DVD-R. I'd appreciate some advise as to the best choice for an authoring program.

I don't want to get too fancy, but I would like to have chapters to allow skipping from scene to scene. It would be nice to have a menu to allow quick selection of a chapter. Also, I would like to scan the cover and make the still pictures (front and back) available from the main menu (sort of like the "bonus material" menu on many DVD's that often leads to still pictures and bios of the stars).