Each has its pro's and con's. We intend to compile a comparison of the various programs and their features, so that people can choose which is best for their particular needs. But to simply ask "which is best" violates forum rule #12.
Thanks for the help. Also, I didn't ask which was best, I asked which people prefered and why, which would inform me of what people used the program for and why it served their needs best. I only made the post subject ask which was best to give people an impression of what I wanted to know in a relatively small field.
Maestro is the best which keep simple to use and understand. Scenarist is the best,but really not the easiest. I would recommend to start with Maestro to understand, then move to scenarist for advanced features. I still use both as I keep it simple when it is simple... and, I did not even try other tools, so it's just the way I see it. No universal truth.
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If you need something that is easy to use then I suggest Spruceup. There is a trial version you can try and decide if you like it. But the program is not sold anymore so it may be difficult to find somewhere to buy it. DVDMaestro and Scenarist are too expensive for a home user. Ulead also got some authoring programs you can try.