Hitesh bhai,
Try WinSCP, as per the documentation http://winscp.net/eng/docs/faq_keep_local_up_to_date it can be done, It is easy please refer to this screen shot http://winscp.net/eng/docs/ui_synchronize for more info.
I have not tried this feature of WinSCP, hopefully it will serve your purpose.
Thanks,[emoji3]