Creating DVD Menus

[Afrinux]

Hi!
I am newbie.
I know DVD-Video specs in and out. I know how to program a DVD Player.
Now I wanted to create a DVD recorder, but I am stuck at creating Menus.
I know what I must have spu, highlights info, and video stream but I cant not find a way to program it.
So I am here to ask your help. How to progr@m a dvd menu?
Thanks for helping.
Afrinux