Video and audio streams (and subtitles, etc..) in a video can be exported to seperate files and recombined without any re-encoding. It’s called muxing-demuxing.
You can use VirtualDub for that if your video file is in a type that it can handle.
Use “Direct Stream Copy” and “audio from another file…” to replace the audio, hit F7 to export as an AVI without re-encoding.
BTW, If you don’t need a permanent replacement, MediaPlayerClassic can replace audio on-the-fly. Just add the file in the same directory with the video, if the video has no audio track, it will use the separate audio file (having the same name with the video) as audio track. In case an audio stream already exist in the video, then you need to pick the file from “Right-click/Audio” menu.