Hi, I did a little digging and you should be able to do what you need to do with TMPG DVD Author, free trial available here: http://www.pegasys-inc.com/en/product/tda.html
I haven't used this particular software but I've used the free TMPG encoder and it was very good and easy to use.
It looks like it's fairly straight forward, there's a step-by-step guide to dealing with VRO's available: here
good luck. 
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