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mkvmerge

merges multimedia streams into a Matroska file

mkvmerge \
--title "test" \
--track-name 1:"English AAC audio" \
 --default-track 1 \
 --language 1:en video.avi \
--track-name 0:"German AAC audio" \
  --language 0:de audio-de.aac \
--language 0:en subtitle-en.idx \
-o my_movie.mkv