Jeff's answer seems to be the only way you can use through adb. But that force you to do some work (merge video + audio).
Another way is to directly use an android app:
- SCR Screen Recorder - official website - XDA - short review
- Mobizen for SAMSUNG - google play
- RecMe - google play
SCR Screen Recorder:
- pros :
- the only app that truly works for recording video + internal audio with all devices
- cons:
- banned from google play because of SELinux policy (see XDA - Google Play ban and "Dangerous app" warning)
- require root for recording internal audio
Mobizen for SAMSUNG:
- pros
- cons
- only the samsung version works for recording internal audio, the general or LG, XIAOMI version can't record internal audio
- still a beta feature
- require root for recording internal audio
RecMe:
- pros
- cons
- internal audio recording doesn't works on most devices
- require root for recording internal audio
Personally I tried a lot of apps and the only working for me is SCR Screen Recorder.
PS : all these apps works without root if not using internal audio.