In more detail, you can choose to rip the entire album or just a selection of songs - personally I'd do the whole album if you have the space on your hard drive. I find it more convienient to use my computer for music, but that's just me.
Once you have the tracks that you want on the computer, put a blank disc and it may autoplay and bring you to the right window. If not, click the "Burn" tab at the top and then you'll presented with a "burn pane" down the right hand side. Select "Album" or "Artist" from the far left hand side, depending on which one you want and drag the tracks you want into the burn pane on the right. You can drag them up and down if you want a different order.
Keep an eye on the amount of time you have remaining on the CD otherwise the disc won't burn. Once you're happy with the track listing, then click on "Burn CD".
Wait a few minutes and there you are