To use an older receiver, you'd connect the subwoofer output from the VSX-21 to an RCA y-adapter cable, then to both the left and right RCA inputs on one of the inputs on the older receiver (e.g. the "DVD" input).
The older receiver then acts like an amp with a volume control, so you would use the volume control on the receiver to level match the sub box to the rest of the speakers. When I did it, I had to turn the volume on my older receiver way up - but that will depend on your receiver and the sub box.
EDIT: Oops, forgot to mention that the sub box needs to be connected to the front left/right speaker outputs on the older receiver (thanks, Mark!), and the older receiver needs to be put into "Stereo" mode.