The little inline composite-to-svideo adapters work, but you won't see as good a video image as is possible. (The inline adapters are very simple filters.) Hook the composite (yellow) video cable to the input of the adapter, and connect an S-video cable from the output of the adapter to the TV. Then press Play on the camcorder.
You don't need audio (red/white) connections, although you won't hear anything without them.