mod to mpg for use in iDVD & iMovie OS X

I am trying to get movies that were taken with a panasonic sdr-s100 into iMovie, or iDVD to burn a DVD. I have Quicktime Pro, the mpg playback component, and MPEG Streamclip. My question is- what format and setting do I export these out to?

I want the DVD to resemble the source video as closely as possible. There are so many options to choose I would appreciate any help with someone with this problem.

Thanks for your help,
Josh

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