Welcome to the forum, Ron!
There are a couple of things to consider outside of simply connecting the subwoofer:
- Those satellite speakers are rated at 4-ohms nominal. That might cause the STR-DG720 to go into protection mode if you crank it up and the current draw gets to be too high. Just something to think about.
- Perhaps more importantly, the subwoofer has a fixed 800Hz crossover. So, the satellite speakers may not be good at handling frequencies much below that. The STR-DG720 can only go as high at 160Hz for the crossover, so you might not get the performance that you're wanting.
As for connecting the subwoofer, that shouldn't be too difficult. You'd connect the subwoofer output from the STR-DG720, use a y-splitter like
this one from Monoprice (you can get them at a lot of places), and then connect the two other ends of the cable to the left/right audio inputs on the bottom of the subwoofer (I forget the name on the input, but I can look it up if you need me to). You'd need to have the subwoofer be on, set the volume level, then level match it to the rest of the system like you would any other powered subwoofer.
If you have questions about any of that, just let us know.