Without makes and model numbers we can't give you an exact answer.
If your DVD has AV outputs there would be a yellow RCA jack for video and red and white RCA jacks for audio.
If the TV doesn't have AV inputs it might have a shared component - composite video input. Check the owners manual on how to use it.
If you don't have an AV cable then you could use the red for video and the white for one channel of audio until you get the correct cable that would have three RCA plugs.