Connect the S-video and component video from the 3100HD to unused inputs on your HDTV. You might also want to connect a composite cable for the analog channels. You will be able to view all channels on the component outputs but picture quality will improve by switching to S-video for digital SD and composite for analog SD.
If you are not using an A/V system, connect the analog audio from the 3100 HD to your TV. You may need two or more Y connectors to feed all TV inputs.
If you are using an A/V system, connect both the digital audio and analog audio from the 3100HD to your A/V system. Digital audio is required if you want Dolby Digital surround. Analog audio is required for analog TV stations.