You won't get an exact answer since without model numbers we don't know what connections you have.
If the TV has a headphone jack then connect that to the soundbar aux input.
Most likely the TV has optical audio output. If the soundbar doesn't have that input you will need an optical to analog converter so you can connect to the aux input. The optical output usually has to be turned on, Sometimes the TV speakers have to be turned off and the audio type changed to PCM.