First off, unless the passive sub has two sets of speaker inputs, you can only use one channel of the AVR20. That "Y" connector will be useless.
As TLS hinted, the possible outcome of connecting the two channels to the one speaker might be a "phffffttt!" sound followed by silence. ...or there might not even be that "phffffttt!"
Of course, if you have two inputs on the sub, then your plan would work.
Second, you would feed the sub output of the AVR235 receiver to a high level ("aux" type) input on the AVR20. That would be something like a CD, VHS/Cable audio input, or something else that takes that level.
You would select that input and setting and the setting level would be a matter of trial and error. You now have, for all intents and purposes, a powered subwoofer.
The crossover and basic level would be adjusted via the menu options on the AVR 235. As with any powered sub, you'll have to find a happy medium between the sub's level control (the AVR 20) and the level adjustments on the AVR 235.
good luck.