Yes you can, hold your audio track with the "Q" found in the tool box and slip it on the midi track,
at this point cubase ask you to get what they call "m-point", you can try the preset setup, and, if it
does'nt fit well, cutomise your own (you can even write manually those "m-point").
Now that cubase know the timming of your audio just click OK , et voila !
enjoy !
Gab.