Welcome to the forum, Charles!
Just using what you have listed, here's what I'd try - connect the sub to the "B" speaker terminals on the receiver and leave your front speakers connected to the "A" terminals. I don't know if you can have both the "A" and "B" speakers on at the same time, but if so, that might work for you.
Here's one issue. Hooking that sub up to that receiver doesn't allow you to do any sort of bass management - namely, specifying which frequencies go to the sub and which frequencies go to your speakers. Also, using the above technique, you'd only be sending the bass from either the right front or left front channel to the sub.
Others here might have better ideas, but that's what I would try to start.