I'm gonna assume you didn't upload to YouTube already. If it's off-sync, then first of all, you need to consider buying a new camera.
Second, let's say you've converted to AVI. Use VirtualDub (Google it) and you can offset audio in milliseconds (Streams -> Stream List).
If it's in MPEG, I'm pretty sure TMPGEnc will allow you to resynch audio.
But, if you've uploaded it to YouTube and it's off-sync, well that's YouTube for you... They've been known to do that (see previous posts).
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