After Effects Tutorial: Rotate Object Using Sound Channels
In Adobe After Effects you can connect any property to the audio beat by dragging the audio in the composition and choosing Convert Audio to Keyframes. Then you have to apply Effects, Expression Controls and Slider Controls to the layer that you want to animate.
Add a simple Wiggle Expression to the layer such as Wiggle(0,0), then connect the pick whip of the 0 and 0 to the Slider Control Values. Finally connect the Slider Controls of the layer to the Audio Amplitude using their Pick Whips.