You should already have RCA outputs from your radio (assuming you have an IBus vehicle).
Look on your radio and you should see a square connector set that looks like the attached picture. The 4 wires at the bottom (Yellow w/ Red, Blue w/ Red & 2 Brown w/ Orange) are the outputs to the amp. Since you are non-DSP, they will be 5V balanced RCA's. You actually probably have 8 wires in this area. The Yellow are the Left + and the Blue are the Right +. Red means front. Since I don't have the other wires I can't tell you the stripe color for the back
Each wire has a corresponding Brown w/ Orange that is the -.
Wire them in, or if you want, there is an adaptor available that makes it a lot easier and keeps you from cutting the stock wiring.
See my blog for details.
Good Luck!
d-