The functionality of the soundbar is to use the speakers in place of the television speakers, not in necessarily in conjunction with them. The sound exiting the televisions speakers are in a digital format, and when using the output, the audio is transferred into analog which causes the delay you're experiencing.
Unfortunately, I do not know if there's any way to synchronize both of the units so that the sound comes out of both of them simultaneously. The soundbar was designed to compliment the design and enhance the audio experience.
I currently have my Samsung Plasma 50 ( model PN50B650S1F) hooked up with a Samsung Soundbar ( model HT-WS1R/XAA ). If I leave the tv speakers on with the soundbar I notice i get an echo effect from the tv and soundbar. If I set the tv to external speakers only I find then when I hit the volume up/down buttons I get a warning messages saying that function is not available displayed on the tv. Is there away around this or is there any "best practice" ways to set up these two devicce to work in perfect union? Thank you in advance for any help.