Hooking up the sub using speaker level inputs is not an issue. The bigger concern is lack of proper bass management. Your speakers will get full range signal. To ensure there is no bump/dip in the FR, you will need to select the cross over setting on the sub in a manner that matches the speakers natural roll off with room interactions taken into account.
For example, if the lower -3dB rating for the speaker is 50Hz, this will be the starting point for the setting on the sub. (Somewhat oversimplifying the situation.) From here, you will need to tweak the setting to compensate for peak or dip introduced by the room. It you have a peak centered on 50Hz, keep the setting lower or if there is a dip, keep the setting higher.