Trying to burn mpeg-4 file so that it plays in normal dvd players?

I have some video that happens to be in mpeg-4 format. I burned a copy
using a program called CDBurnerXP. It didn't have a dvd option, but
said that a data disc covered videos. I burned it and it played fine
on my PS3. I tried it on a regular dvd player, though and it said
"unknown disc". I'm not sure if it's because it's a data disc or if
it's because of the format. I suspect it's the format since it played
on the PS3. The disc I was using was a Memorex DVD+Rdl.

My question is what do you think the problem is? Also, if it's the
burner, what's a reliable free burning software? Lastly, if it's the
format that's the issue, what format do I need to convert it to and
again, whats a free reliable conversion program. Thanks a bunch.