You can't.
And don't even think about cracking open the case and finding the spots on the board. TV's work with a "hot chassis" -- the ground of the internal TV frame is actually 120 volts HOT if you touch it you will get a massive shock. Therefore connecting anything to any points on the board from a grounded device such as a home video game console will first send 120 volts back into the home game, destroying it, and then burn up the tv by grounding it.
That's why the connectors on the back of the set are always protected by capacitors inside that allow the frequency through but not the voltage.
Unless your TV is european and has a SCART connector that allows RGB inputs, it can't be (easily) done. YOu can possibly buy one of those replacement arcade chassis for it and mount it inside and get pure RGB, but then you'd have to amplify your video signal from the .7 volts from the video game system to 1.5 to 4 volts needed by the arcade chassis.