Hey Guts, your TV has two audio output options. Either a 3.5mm analog jack, or fiber optic Digital Audio.
Your Yamaha Amp has Digital Audio inputs, and RCA analog audio inputs.
For the analog, you need a converter cable like this one.
[ame="http://www.amazon.com/3-5MM-To-Stereo-Rca-Cables/dp/B000HSEQH8"]<click me to see the cable>[/ame]
For the Digital Audio out, I'd imagine any standard Digital Audio cable will work.
There is a blurb in the manual that some connected equipment may not properly output digital audio through that jack. That may be what Buzz was talking about?
In that case, you'll need to set your audio out to PCM 32/44.1/48 kHz. See page 15 of your TV's owner's manual for more info.