I don't remember the exact settings but in Nero, after you've moved all your tracks into the left hand pane; select them all, then choose file/compilation properties
Somewhere in that menu you can set the gap between tracks to 0 seconds (the default is 2).
When you start the burn, it'll kick out an error saying you need 2 secs before the first track, but no big deal, just ok that and you're sorted. Usually works pretty well, though you sometimes still get a slight blip.