When you open Nero Express you should see choices on the left like Data, Music, Video/Pictures. Choose the Video/Pictures icon and youll see 3 new choices in the main window. Select the one that says DVD-Video Files, now you should see an open window with a size meter at the bottom, and should have an "add" button on the right side. Click the add button and a window opens for you to find the files to add. Now just go to the Video TS folder you saved, open it, and youll see a number of files, named video-ts.bup , video-ts.ifo, video-ts.vob and some beginning with vts-01. Click on the top file then hold the Shift key on your keyboard and hold the down arrow to select them all, then click "add". Now you only need to click next until you get to burn.
I have Nero 8 so this might be a little different than nero 6 but should be close.