Simple answer is that you don't.
Instead of using an old version of MS-DOS, use a recent Windows system to see the DVD drive.
A workaround is to use another version of DOS that has the right drivers already installed. However, as I recall, they only work on a CD drive, not a DVD.
You may want to read this article:
https://en.wikipedia.org/wiki/MSCDEXMSCDEX or Microsoft CD-ROM Extensions is a software program produced by Microsoft and included with MS-DOS 6.x[1] and certain versions of Windows to provide CD-ROM support.[2] Earlier versions of MSCDEX since 1986 were installable add-ons for MS-DOS 3.1 and higher.[
May I snuggest a quick workaround ?
Copy DVD files to USB stick and take it to the MS-DOS PC.