Off the top of my head, the program name escapes me, but you can get programs to resync the audio to the video youself. The problem occurs during the encoding process and gets worse as the video gets re-encoded multiple times (usually happens on computers that were trying to multi-task during encoding).
Yeah, the old vcd copy was like that. It's still a pretty good version. Here's what you can do?
Separate the audio and video with the program TMPGEnc, and use GoldWave or Cool Edit to insert about a second (or delete a second, depending on whether or not the audio is early or late. Actually, I think it was 3/4 of a second, but it was a couple years ago that I did this.
Hope this helps.