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ffmpeg - Subtitles - Add subtitles from another file

Assuming a.mkv contains only the video and audio, but b.mkv contains subtitle data to be included.

ffmpeg -i a.mkv -i b.mkv -c:v copy -c:a copy -c:s copy -map 0:0 -map 0:1 -map 1:2 -y out.mkv

NOTE: To determine the mapping for the subtitle, run:

ffmpeg -i b.mkv

and see which stream contains the subtitle data.