If the delay is in the video file(present when you play it with a video player), you can fix it by putting everything in an mkv and setting a delay for the audio track with mkvtoolnix:
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Or you can extract the audio, re-encode it by joining some silence at the beginning until it's fixed and put it back with the video, but that's more complicated to do, will incur a slight quality loss due to extra compression and the solution above works just as well for 99% of the cases.