I've never tried burning a CD from within iTunes, I've always prefered Roxio Toast Delux. But it sounds like eather there's an issue with your CD-R Driver, or your burner may not be supported and it was using a non-compatable driver... Or.. you may actually have a corupt MP3 file.
Try burning agaIn and see if it stops at the same MP3. If it does, try removing that Mp3 and burning. If it's successful, then that mp3 was corupt. If it still keeps it up, then chances are there's a driver or burner issue.