What you're experiencing is called the depth of field. It's defined as the area that appears to be in focus. There are three factors that affect the DOF. First, focusing distance. As focusing distance decreases, so will the DOF. This is why close-up macro shots have such a shallow dof. Second is focal length. As the focal length of the lens increases (e.g. 5mm vs 50mm) the dof will decrease. This is why landscape shots (normally taken with wide-angle or short focal length lenses) have such a huge area that's in focus but portraits (normally taken with telephoto lenses) do not. Lastly is the aperture. As the size of the aperture increases, the dof will decrease.
Your video has a certain depth of field because of the focusing distance, focal length and aperture used while making the video. The key here is to understand the amount of DOF and whether you can actually increase it, proving that your camcorder has those features. If you can close the aperture lens down then you will increase the dof and probably get you and your friend in focus.
If you do not have any control over the aperture, then use a smaller or shorter focal length. Problem with this solution is that as the focal length decreases the amount of distortion will greatly increase. It's this distortion that can make your faces look wonky.
Best thing to do is close the lens down, but that will require more light which won't be a problem if shooting outside. Another option would be to change the way you two are posing in front of the camera. Standing side by side or shoulder-to-shoulder to each other with the plane of the sensor parallel with you two would be the best solution. This would result in both of you being within the DOF at the same time. Once you start moving the camera off to an angle, then you're both at two different focusing distances away from the plane of the sensor which then results in a situation where the DOF must be increased to get a larger area in focus.