Just burn to the DVD. You don't have to do anything beforehand.
For some reason people seem to think that you can only burn certain types of files to a DVD, but that's not the case. A DVD is like any other type of optical media; you can store any type of file on it. So just go ahead and burn the RAR archives and you're done.
Some operating systems, such as Windows and OS X, have features that allow you to burn a DVD from your file manager (ie. Windows Explorer and Finder, respectively). So if you an OS like that you don't even need any third-party software.
Maybe I should also mention that you will need a DVD burner and a blank DVD. Can't be too careful, I suppose.
EDIT: If you're trying to burn a *video DVD* that's an utterly different story. You didn't say that before. You just said you wanted to burn a RAR archive to disc.
To burn a video DVD if you already have properly encapsulated video, audio and subpicture streams in VOB containers, all you need to do is create a directory named `VIDEO_TS` (without the quotation marks) in the root directory of the DVD-ROM. Then put all of those files you listed inside the `VIDEO_TS` directory and burn the disc at the slowest speed your drive supports.
The hard part was already taken care of for you, apparently: the encoding.