Avidemux can re-sync your audio. I'm not sure if it will re-encode though.
- Import your video.
- On the left, you'll see a checkbox titles "Shift". You want the audio to start two-seconds later. Start with a value of 2000 (2000 ms = 2 seconds). Make sure Video and Audio are both set to "Copy".
- If it looks right export your video.
You can also use the command line (untested by me):
You can use MPlayer to test how much you need to change the audio delay with the - and + keys. It will print out a display on the video showing you how much delay you've applied.
ffmpeg -i input.foo -vcodec copy -acodec copy -itsoffset 00:00:02.00 output.foo