How should I convert these videos in order to play on a PS2?

I am creating a DVD of videos from E3 that I would like to play on the PS2. These are MP4 files so I know I need to convert them in order to properly play them on a big screen TV but what format should I convert them in order to get the best quality? I will be bunring ontp a DVD+RW with 4.7gb/2Hrs. Should I be using a different DVD also?