Audio does not use frames, or at least not in the video frame sense. When two devices that are not synchronised in some way it would be highly unusual for the two recordings to remain in sync. Professional (expensive) recording equipment have the ability to physically connect multiple recording devices so that they share one common clock signal and so remain synchronised - consumer level equipment (and even a lot of semi-pro equipment) does not have this ability, so this is a common problem when using multiple recording devices. Unfortunately there is no perfect solution.
If the two recordings drift out of sync at a constant rate, then the “Change Speed” effect (Effect menu) can be used to resynchronise the recordings. What you need to do is to accurately measure the time difference and from that calculate how much the speed needs to change. There’s an example of how to calculate the setting here: http://manual.audacityteam.org/o/man/change_speed.html This can be tricky, so please shout if you need more help.