TV's are not the best sound sources. They just make flickering visual images.
But if you must, connect theTV's RCA jacks for Audio L and R Out to Aux In. But that will only send stereo (at best) audio from the TV's source to the audio system. If you want better stereo and possibly multichannel sound use the cable box's sound as a source. It should have at least the analog RCA pair (for plain stereo) and maybe a digital audio output, too.
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