The easiest way would be to hook it up using the composite cables from the DVD player to the Rear of the TV.
First safely and slowly turn your TV around you should see inputs in the rear of the TV.
Second identify your composite inputs. They will be visible via the standard RCA Composite colors, which are Red(Audio), White(audio), and Yellow(Video)
Third Once you have found the RCA Composite Inputs, Take the cable which are inserted into the DVD player and Plug it into the TV's Composite Inputs.
Once all that is done, turn on your DVD player. Then using your TV's remote Press the "TV/VCR" / "Source" / "Input" button on your remote till you see video from your dvd player displayed on your TV.
Here is a link to the User Manual:
http://www2.panasonic.com/consumer-electronics/support/TV-Combos/model.PV-C2540
Hope this Helps.