I put the audio track of a live cd recording of a rock group on the timeline. Another friend gave me a live video performance of the same show and the audio is terrible. What is the easiest way to sync the video track with the audio?

Well, PluralEyes would be the "easiest" .. but you can do it manually. From what I understand, the CD is the exact same performance that is on the video tape, correct?

I would play them one at a time to find an easily identifyable part on one ... then try to find the same spot on the other .. then slide the CD track to aproximately the correct position to match the video .. then *expand* the timeline enough (you will have to click more than 2 or 3 times) so that you can easily see the waveforms .. then match the waveforms of both tracks.

You may have to tweak the sync as the performance goes on. Don't assume that if it's perfect at the start it will continue that way until the end. Whichever track is lagging behind will have to be cut and overlapped just a bit to regain sync. If it's the video choose a place that it will be less noticeable.