Did you RTFM? I thought this was covered in the manual, and even in the large colored setup sheet. Anyway, connect its audio and video outputs to a set of audio-video inputs on your receiver. Use the yellow jack if you take composite video to the TV from your receiver; use the S-VHS jack if you take S to your TV. Don't mix the two, because most receivers will only output the type of video fed into them.

You could also use the channel 3 output to feed a signal to your TV, but if you are doing this, then you are not setting up your A/V receiver the best way. If you are, describe how it is connected and further answers will come your way.
Now, conceptually, the easiest way I have seen to connect these and to conceive of how they work with a satellite receiver, is this:
The TiVo is an audio/video amoeba, and it has just absorbed your satellite receiver. The TiVo remote chooses your satellite channels. Just connect the outputs of the TiVo where you had your satellite receiver connected.

Realize that when you choose any satellite channel, you are not looking at the satellite receiver, you are looking at the satellite receiver through a window in this A/V amoeba. So if you want to set up a pay-per-view, you choose your channel with the TiVo, and then pick up the satellite remote and do that part of the setup. When you are done, the satellite receiver has to be watching a channel, with no menu up, for the TiVo to change channels again.

This is also what you do if you need to check the satellite signal levels or whatever else requires the satellite menu.