mplayer dvdnav

man mplayer:

(The following keys are only valid if you compiled with dvdnav support: they are used to navigate the menus)

keypad 8 Select button up.

keypad 2 Select button down.

keypad 4 Select button left.

keypad 6 Select button right.

keypad 5 Return to main menu.

keypad 7 Return to nearest menu (the order of preference is: chapter->title->root).

keypad ENTER Confirm choice.