Ok, I know what to do. I played a little with ffmpeg and avconv
(ffmpeg's fork, libav, conversion utility) converting 3D YouTube
videos to play at the Nintendo 3DS.
Anyways, I'll pretend you're using ffmpeg, I prefer libav but ffmpeg
is much more common (both are made available by portage, there is
virtual/ffmpeg now). Their syntax is a little different by the way, if
you prefer using libav just look at libav changelog
(/usr/share/doc/libav-version/CHANGELOG.bz2, or something close to
that).

ffmpeg -i file1.avi -i file2.avi -vcodec copy -acodec copy -async 12
-o output.avi

You can use multiple input files, not just 2. If their codec match,
you can copy, if they don't match then you'll need to re-encode the
files (or the just the ones with the different codec).
The -async 12 option do the synchronization trick. The 12 indicates
that ffmpeg should try to correct synchronization at most 12 times per
second. You could use less, try and see the results yourself. I'd say
that even 5 or 3 would give great results, but 12 doesn't seem to
increase file size either.

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