Package: audit

"audit" package binaries on CentOS:

/sbin/audispd /sbin/auditctl /sbin/auditd /sbin/augenrules /sbin/aureport /sbin/ausearch /sbin/autrace /usr/bin/aulast /usr/bin/aulastlog /usr/bin/ausyscall /usr/bin/auvirt

You may install this package on CentOS with yum install audit