You need some sort of video editor- nearly all will let you combine an audio track and video together and synchronize them. I use Final Cut on a Mac. iMovie works as well. I'm way out of date with any experience on Windows, but I think Windows Movie Maker will do it, if that still exists. Adobe Premiere and Sony Vegas are others. There are probably dozens if not hundreds of programs for windows.
What I do in Final Cut is record the video, which has audio from the camera, as well as the separate audio - I use a Zoom portable recorder usually, but you can use anything. I copy the audio and video SD cards to the computer, open them in Final Cut, and tell Final Cut to make them into a single clip. It handles the synchronization, and now I have video from the camera with the better sound from the audio recorder/mics.
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