Yup - 'tis all in the manual.
You have some choices to make first - do you want to play a single clip only and return to a menu (use stories) or do you want to be able to skip through all the clips, or start watching one and go through to the next?
These two options are not mutually exclusive - you can achieve both scenarios.
Here's a starter if you don't want to use stories - add all of your clips to a timeline, and add markers between each clip.
When done, drag the icon for the track (from the disc outline view window) onto a blank menu screen and hold it there until you see the contextual menu.
Select the correct option for what you want - add menu and connect to track. You then get to choose the template that you want. Choose one that has the few buttons on that you want to work with - or create a menu template beforehand so that you get the buttons you need.
If you choose a built in template then DVDSP will include the button navigation and navigation between menus. If you don't then you have to add the menu navigation buttons - it isn't hard... in fact, it's probably the better way to do things as you retain more control.
That's pretty much it.
Of course, you could do this AND use stories... ;-)
There are lots of options available to you - try to decide what the end user experience should be for playing back the content, and we can then advise on the best way to achieve it.