Stream video+audio from IP camera

[mb508]

I want to stream audio+video in MPEG-2 TS captured from IP camera.
IP camera produce ...:
- video in M-JPEG format (it works well with VLC)
- audio in G.711 PCM or in G.726 ADPCM formats

How can I capture both audio and video and transcode/stream in single MPEG-TS stream?

Thank you for help // sorry for poor english, I'm doing my best =)