I tend to do it the way Moth3r does it. The advantage of the previous methods is that you only have to re-encode the audio, which is quicker - video is slower to re-encode than audio - and better if you prioritise video quality. The advantage of Moth3r's method is that the sync should be perfect, whereas in my experience with the other methods, the result is very good, but not quite perfect as it is if you match the videos frame by frame.

If you use Womble, you should have Re-encode the whole audio if any part needs fixing checked in the options. This helps prevent compatibility problems when playing the result on fussier DVD players.