Need the model #s or more details on your outputs on the Panasonic TV, and the inputs on the Sharp stereo set.
Some TVs have the basic L/R audio outputs with RCA jacks, and if the Sharp has RCA aux input that would work with a simple L/R RCA cable. Some have a headphone jack, so you can use an 1/8" TRS to RCA cable adapter.
Some TVs have only digital audio output (usually optical) and if the Sharp has an optical input then you just need an optical TOSLINK cable.