Video object units are generated from a program stream. The generated video object units have navigation portions respectively, and compose video objects. The navigation portions are void of ending time information and search information. The video object units are sequentially recorded on the recording disc without being buffered. Ending time information and search information are detected from the program stream. A decision is made as to whether or not the recording of video object units composing one video object has been completed. Navigation information is generated which includes the ending time information and the search information, and which corresponds to the last recorded video object. The generated navigation information is recorded on zones in the recording disc which correspond to the navigation portions of the video object units composing the last recorded video object each time the recording of video object units composing one video object has been completed.