You need either DVD-R or DVD+R (or dvd+rw or dvd-rw, the w says its rewritable), depending on your burner. Most burners copy both, but some don't. You should check that.
The difference between D5 and D9 is the size. D5 is the 4.7gb you have, D9 holds about 8gb.
Your 4.7gb disc should be enough depending on the video (quality and how long it is). You should check how big the file is by putting in the DVD with it on and just checking what is in it and how big it is (easily do this by opening windows explorer and selecting drive).