Can't find any info on the TV online and no model number on the Panasonic soundbar.
There are two options.
1. Connect the TV optical audio output to the soundbar optical input. You may have to turn the optical output on, turn the TV speakers off, and change the audio output type in the TV menu to get it working. Check the manual on how to use the optical output.
2. If BOTH the TV and soundbar support HDMI ARC then you will connect the HDMI of the soundbar to the HDMI-ARC input (there will only be one marked that way) and then turn it on in the TV menu.