See Figure 15 on the datasheet, and note the voltage needed on the mute pin is referred to the +Vs power supply rail.
If you have no need to control it just connect it (5) to ground through a 1k to 15k resistor and the amp will always be on (out of standby and unmuted). You may get some noise out of the speakers as the power supply comes on. To eliminate that just use a larger resistor (15k or so) to ground and a small capacitor (1uf?) from the mute pin to +Vs. This will keep the amp muted until the power supply settles, then quickly un-mute it and keep it un-muted.