This should already work but maybe there is a problem? If you have set a delay the resulting file should have its time origin set automatically. You should see the little red marker corresponding to the time origin and the beginning of the video should have negative time codes.
The videos are synchronize based on their respective time origin, in this case the audio trigger or manual start of recording, so if you open both videos side by side and use the slider in the joint controls at the bottom it should move in both videos in a synchronized manner.
If you haven't set a delay or don't use audio trigger you should still be able to synchronize them manually by setting a time origin in each video and using the joint controls.
If parts of this don't work as expected please describe what you are doing in more details. How many instances of Kinovea are running, what runs where, etc.