So It Has Come to This: The Simpsons Clip Show - S4-E18
Audio problem: After Homer puts the old milk in the fridge and Bart takes a drink from it you will then see Marge use a fork to take the milk out of the carton. Marge says "woof" but her mouth does not move in sequence with the audio.
So It Has Come to This: The Simpsons Clip Show - S4-E18
Audio problem: When Lisa explains the origin of April Fools Day, we hear Homer, Marge, Bart and Lisa chanting "Blood For Baal." But, we see that Lisa is not taking part in the ritual and her mouth isn't moving. (00:02:15)
Answer: I'm not sure if this is the one you're thinking of, but an episode of "Ray Bradbury Theatre," called "A Sound of Thunder," dealt with a similar matter: a group of hunters travel back in time to hunt dinosaurs, only to find things have changed when they get back because someone stepped on a butterfly.
Xofer