MP4Box
a MP4 multiplexer
MP4Box is a MP4 multiplexer. It can import MPEG-4 video, DivX, XviD, 3ivx, h264 etc, audio streams and subtitles into the .mp4 container. The end result is a compliant MP4 stream. It can also extract streams from a .mp4
http://gpac.wp.mines-telecom.fr/mp4box/
AudioVideo