Unless you are splitting the audio track in the video editing software and manually shifting the audio tracks, it will go out of sync over time. This is due to the fact recording devices (audio and video) have a built in time clock and no two devices clocks will ever be exactly in sync. This is usually unnoticeable with short clips, but will be more evident during longer clips (when filming a concert for example).
In a professional environment, cameras and audio recording devices are synchronised using something called timecode. The devices are cabled together using BNC connectors and cables (there are other transmission methods, but the principles are the same), with a special timecode signal being sent to each device. Think of it like them all calling the speaking clock every few milliseconds and setting their watches. When it comes to editing in something like Avid or Final Cut Pro, all the video and audio tracks can be synchronised with incredible accuracy.
The synchronise clips function in FCPX (mentioned above) is a very good way to synchronise audio and video tracks.