The TV must have audio out jacks. All you have to do is run audio cables from the left (white) and right (red) audio outs on the TV to ANY analog input on the receiver - you could use CD, Tape, Aux, or even the audio portion of a jack marked 'video 1'; you cannot however use the jack marked Phono.
One additional consideration is the TV volume control. The TV might have two sets of audio outs - one marked 'fixed' and one marked 'variable' (or there might be a switch or menu setting to specify whether you want fixed or variable). You really want to use the fixed output so that the TV volume control has no effect and only the receiver's volume control affects the volume. Variable will still work but if the TV volume is all the way down, you will hear no sound.
Some TVs also require you to turn OFF the TV internal speakers to activate the audio outs.