There's several ways you could do it:
-If you have a piece of gear with two preouts, just run RCA interconnects over to the subwoofer's line level/low level input
-If you have one that simply has pre-out/main-in loops, just get a Y adapter for the pre-out and run RCA interconnects over to the subwoofer while the other goes to the main-in.
-If you don't have those, you'll have to use speaker/high level inputs so you run the speaker wire from the receiver to the subwoofer, and if your subwoofer has high level outputs you run wire from the subwoofer over to the speakers. I believe you could also wire the subwoofer to speaker B on your receiver and presumably you probably have an A+B mode on your receiver - so you can actively turn the subwoofer on or off (This is I believe what you described that you wanted to do, and IMO may be the most versatile option since you can turn the subwoofer on/off from the receiver).
Just remember, newer equipment has dedicated subwoofer pre-out jacks and tends to have equalization that when adjusted only affects your speakers and not the subwoofer. Not true on vintage gear - if you have the subwoofer on and you hit the loudness, you're turning it on for the subwoofer as well which will greatly exaggerate the bass (Which you may not want).