I'm afraid that I'm not going to offer much in the way of hope. Since you did the video recording with some type of camcorder and then copied or captured the video to your computer, things like dropped frames and just little electrical hiccups can change the length of the video by even just a few frames. You would not even notice those.
The audio might be less prone to hiccups but things like the difference in the distance from the video recording to the audio recording come into play.
What you are asking to do may not be possible.
How far off is the sync - is it the same amount throughout or does it start in sync and then go out as you play the tape?
Have you produced the best effort to a file and then play that file on your computer. Sometimes that gives you a real idea of how far off it will be when you are finished.
There are a couple of things to try depending on how far off the sync is.
1) You can cut the video and the audio into sections so that when the sync is off, you can realign.
2) You can slow down the video (or speed it up) to try to get the sync back into place.
Perhaps other can offer more suggestions.
To posters who ask for help -- it is nice to thank the volunteers who try to answer your questions !
Anything I post unless stated with a reference is my personal opinion.