You kinda have to do it manually – but there are a few shortcuts to make it quicker (depending on how your keyboard is set up).
Match frame the video clip by selecting it and pressing F – this will bring it up into the view with your in and out points. On the left hand side of the timeline, there are the track patches which determines which track your clip will land on – make sure the patch is set to the track your audio is to land on (it should be closed together like a jigsaw). I would lock the video tracks or unpatch them so you dont bring in new video. Then, with the playhead positioned at the start of the clip on the timeline, click on the viewer to select it and hit F10 (shortcut for overwrite edit). This will bring in the audio related to that piece of video.
Writing it down makes it look a lot more complicated than it actually is. Give it a few goes, you’ll get the hang of it and it’ll save you heaps of time : )