Install ffmpeg (on a Mac):
brew install ffmpeg --with-libvorbis --with-sdl2 --with-theora
Use ffmpeg for the conversion:
ffmpeg -i audio_input_file.m4a -c:a copy video_output_file.mp4
This works very quickly because it just wraps the audio file in a video container. Would like to eventually include a relatively simple image on every frame of the video.
Later, I had a need to do the reverse process for some files.
Use
ffmpeg -i input_file.mp4
to get information on the embedded audio format.In this case it was AAC. So, then I used:
ffmpeg -i video_input_file.mp4 -vn -acodec copy copy audio_output_file.m4a
to demux it (source).