You will need a DVD authoring Program ideally.This will certainly enable you create new menus from footage off the different dvds but as for maintaining the menus from 3 separate discs and transfering these to one new disc Im rather unsure that is possible( I may be wrong of course) but with my little knowledge of DVD authoring It would seem that a "reauthoring " is more likely to give results you want as even if the menus copy the links may not work.
Pinnacle Studio, Roxio (8)? and more so : Nero Vision 4( from the Nero7 suite) can do this but not as well as a dedicated program like Uleads MovieFactory : Ver 5 is the latest but 4 is quite capable.
It can also do a bit of trimming ( rudimentary editing)
You can download a trial version
Here
If you have Nero on your system you lose nothing by trying it out but MovieFactory gives you a lot more for not very much money