If the reset doesn't work for you, the issue here is usually called input lag. It's caused by the video signal processing delays that occur in mostly the newer TVs. My LG 3D tv has a lag of about 200 ms. So, when you compare with the raw audio out of the H, the audio is 200 ms ahead of the video. I just live with it as I'm the only one using BT in the middle of the night.
My LG has an AV Sync setting to partially overcome this kind of problem, but it's not enough to make a difference. Also, again in the case of the LG, some users have found that changing the mode from 'standard' to 'game' has greatly reduced this lag. I haven't tried it yet, may some day. But if it works, I would have to change all the color settings to match the 'standard' setting to live with it.
Care to share what tv and BT you are using?