The problem is that the only audio output from the TV is digital, and the only input to the speaker system is analog. So you will need a digital to analog converter I believe. But they are only about $20. Here are some at Amazon: http://www.amazon.com/gp/product/B0002GV876/ref=pd_lpo_k2_dp_sr_2?pf_rd_p=486539851&pf_rd_s=lpo-top-stripe-1&pf_rd_t=201&pf_rd_i=B0013LWK3A&pf_rd_m=ATVPDKIKX0DER&pf_rd_r=1DHG5F0ZQHDAE9ES1EZD
I have not used one myself, so I have not gone over these in detail. Don't just buy one of these without doing some research by at least asking at some retail stores. These are just ideas of what to look at.
Answers & Comments
The problem is that the only audio output from the TV is digital, and the only input to the speaker system is analog. So you will need a digital to analog converter I believe. But they are only about $20. Here are some at Amazon:
http://www.amazon.com/gp/product/B0002GV876/ref=pd_lpo_k2_dp_sr_2?pf_rd_p=486539851&pf_rd_s=lpo-top-stripe-1&pf_rd_t=201&pf_rd_i=B0013LWK3A&pf_rd_m=ATVPDKIKX0DER&pf_rd_r=1DHG5F0ZQHDAE9ES1EZD
http://www.amazon.com/Digital-Audio-Analog-Converter/dp/B0013LWK3A/ref=sr_1_2?s=electronics&ie=UTF8&qid=1296585102&sr=1-2
I have not used one myself, so I have not gone over these in detail. Don't just buy one of these without doing some research by at least asking at some retail stores. These are just ideas of what to look at.
Your tv has audio out pins for right & left channels. they are both 2 pin types, connect them to the audio in of the shelf system