It really is as simple as:
cdrecord -v dev=/dev/sr0 pathtoyourisoimage.iso
-v is for verbose, I prefer it but if you don't you won't see as much output like below (I like to know the details and exactly what's happening)
dev=/dev/sr0 specifies the device name of your burner (they say not to use it and to specify some weird annoying device string but using the raw /dev has always worked for me and is how it should have been implemented from the start IMHO)........