There are graphical utilities for burning CDs, such as xcdroast and k3b, but I have not had any success with creating multisession CDs. Using the basic software components I have found it possible to do this successfully. These are the commands I have found to work.

Step 1: Make an ISO image of the file system to be burnt

#mkisofs -J -r -f -o /.../image_name.iso /.../whatever_directory

where /.../ is the path you want to use for the location of the image file, and the path of the file system you wish to burn.

-V label can be added
-J for Joliet long filenames
-r (Rockridge) set ownership to root, or -R to maintain ownership
-f follow any symbolic links to copy the contents of the file
-L to include files with a leading "."
-m to exclude cache files

The image can be checked by loop mounting
#mount -t iso9660 /.../image.iso /media/... -o loop,ro

Step 2: burn the image

#cdrecord dev=0,0 -v -eject speed=4 fs=64m -multi /.../image_name.iso

In order to check where a subsequent session starts:
#cdrecord dev=0,0 -msinfo

to burn a subsequent session, we can integrate this into the cdrecord command

More to add by way of explanation
#mkisofs -J -R-V label_2 -C 'cdrecord dev=0,0 -msinfo' -M 0,0 -o /.../image_name.iso /.../origin