Mozilla Firefox - Portable Edition is quite well documented. I highly encourage you to read that documentation. There is .ini file named FirefoxPortable.ini that allows you to customize settings of how Portable Firefox starts up and what default opening page it uses. There are some additional tweaks that also allow you to speed up the browser, disable the splash screen, etc.
To get it to run on a CD or DVD, it is simply a matter of appropriate directory structure, appropriate settings, and appropriate autorun.ini settings to launch PortableFirefox on the disk at startup.