you need a surround decoder / preamp, such as the one found in newer PC computers, or a stand alone unit. The audio from the TV goes to the line input of the computer or surround preamp.
The outputs-- right, left, sub, rear, etc.... go to the speaker system inputs. There has to be a decoder, whether it's the surround on the computer or the surround from a stand alone dolby decoder, you need that part to make all the speakers work properly.