LCD HDTV Buy Now

I just bought a new Lg brand HDTV, model LG 42LH40. I am hard of hearing and want to use my wireless headphones with the new TV but can’t seem to be able to get the headphones to work. (I also want to have the sound broadcast from the TV so others can hear) There are many connectors on the new TV and I realize I may need an adapter. Can someone explain If I can connect and if so, how to connect ? I have been using the headphones using a 3.5mm male from the headphones to a female to RCA adapter on my old (analog) TV . The headphones are RCA brand, model WPH141.
The new LG has these input/outputs:
HDMI/HDCP
AUDIO
Mono/Stereo/Dual (MTS/SAP)
Yes
Audio Output Power (Watts – THD 10%)
10W + 10W
Invisible Speaker System Details
2 Way 4 Speaker
Dolby Digital Decoder
Yes
Surround System Type
SRS TruSurround XT
Bass/Treble/Balance Controls
Yes
Clear Voice II
Yes
Auto Volume Leveler
Yes
Sound Modes
5 Modes
Yes
SIDE INPUTS & OUTPUTS
L/R Audio/Composite Video In
1
HDMI/HDCP Input
1 (V.1.3 with Deep Color)
USB 2.0 (JPEG/MP3/Video)
1
REAR INPUTS & OUTPUTS
HD Component Video In (Y,Pb,Pr) + L/R Audio
2
HDMI/HDCP Input
3 (V.1.3 with Deep Color)
RF In (Antenna/Cable)
1
L/R Audio/Composite Video In
1
Digital Audio Out
1
Analog Audio Out (L/R)
0
Optical Audio Out
1
S-Video In
0
LAN
0
RGB In (D-Sub 15pin) – PC
1
PC Audio Input
1
RS-232c In (Control/Service)
1
Remote Control In Port
0
USB (Service Only)