You can spend the money for a decent PC, video capture device, and DVD burner with some authoring software and do the job yourself. If you have the time. That's the only sure way to get the chapters where you want them. I checked into having some videos copied to DVD and the websites that I saw usually just dropped a chapter in every 5 minutes.
I assume that you want to copy your own videos to DVD. If you try to copy commercial videotapes (which have Macrovision copy protection), you won't be able to unless you go to extraordinary means to defeat the copy protection. You standard standalone DVD recorder will not make copies of commercial videotapes.