I don't know about Nero 6, but it should have a similar option like Nero 7, once you get to the menu page after you load your AVi/mpeg file and click next:
In NeroVision 3 you decide whether the film starts straight away, if the menu loads in first or make no menu. My films start straight away but i like to have a menu in it... Most of the times i don't use it - but it's there!(in case i decide to go for a specific chapter)
@premiggs
You are absolutely right!(I'm gonna put up a picture to visualize what you were saying:~)!). I just assumed he might want to totally skip the menu creation phase, to save some space on the disc or something.