Is this a passive or active subwoofer? Active would have a built in amplifier.
Active subwoofers usually have high level inputs and outputs. Simply output from the left and right speaker terminals of the receiver (speaker set A) and connect it to the high level inputs on the subwoofer. Be sure that left goes to left and right to right. Then the coinciding high level outputs on the active subwoofer are connected to the speakers.
Set the x-over appropriately on the subwoofer to match your front speakers, so if the fronts start to roll-off around 55 hz (you may need to refer to your speaker specifications to find this information) then you would set the subwoofer's x-over around the 55 hz area, maybe a tad higher or lower.
If the subwoofer is passive it will more than likely have a built in fixed x-over that will filter out the low frequency material sent to the speakers. It would be wired in a similar fashion to the Active subwoofer.
No crossover will need to be set.
Could you give us make and model of the subwoofer and your speakers?