For starters a DVD/CD will only automatically launch in a Windows PC if the user has enabled DVDs/CDs automatically to launch. Normally PCs come out of the box with this set (and it will launch a DVD in whatever dreadful bundled software the manufacturer has been persuaded to include). Personally one of the first things I do with a Windows PC is turn off the facility to autorun a "data" dvd and autoplay a video DVD.
I don't know about Apples, but presumably when you insert a DVD whatever Apple decide should happen will happen
Given that you can't guarantee it will automatically run (but if it doesn't, the user will be knowledgeable enough tp tell it to run) you need to use DVD authoring software such as Adobe Encore, Sony DVD Archtect or several other packages (I'm sure there will be some freebies and tutorials somewhere).
Including data files in a video DVD is easy. You simply create a folder called "EXTRAS" on the DVD, in the root directory and place your data files (in this case your pdf) in that. Check your authoring software allows you to do this.