Usually Mpeg2 or AVC. There are Templates included for this. Frankly I haven't had a lot of luck with doing it this way, as DVDA insists on re-compressing the footage anyway. Even with the standard templates.
So I just render to a lossless file, and bring that into DVDA. Works much better for me. Others seem to have success doing it the normal way, but I haven't had time to really troubleshoot it.
No, I mean rendering out to a lossless codec (or nearly lossles). I tend to use Lagarith inside the .AVI container, but Uncompressed, DNxHD, PNG, Jpeg2000, and others are all viable choices too.