Help setting up headphones with Tivo Mini

I've spent an embarrassing about of time trying to figure this out. Help me, Tivo Community Forum! You're my only hope! :D

I would like to use headphones/earbuds for a bedroom TV. I'd prefer wireless but wired is OK as long as I can buy an extension cable.

My TV doesn't have a headphone jack, and I'm unclear as to how I connect. Bluetooth? IR? Just a big ol' cable?

Do I connect from the TV or the Tivo Mini? What kind of cable?

Thanks!

P.S. I don't know much about this stuff, so small words, please. :)