For most TV sets there are usually analog Audio L/R outputs (red/white connectors) or coaxial/optical line out connectors.Connect either the analog Audio L/R output or the coaxial/optical line out from the TV to the audio inputs of the receiver. Setup the source to receive audio input from these connectors. Switch to the correct source in the receiver and you will be able to enjoy the audio of the TV programs through the receiver speakers.
Note : HDMI connection does not allow the audio of the TV programs to be transferred to the receiver unit in HDMI specifications v1.3a/b. Thus do not expect TV programs audio through the receiver via HDMI.