Well, there are ways to work around it, but S-Video does offer the best performance for TV-Out, so it is the best thing to use if you can. If you have the RCA outs and can plug those directly into your TV, then you can use that, or if your TV doesn't even have RCA jacks, then you can probably run them through your VCR (assuming your VCR has them). the problem with this route is that most DVDs are scrambled so sending them through the VCR causes a poor picture. you can get around this by getting a video stabilizer
here. The other option is an RF modulator that can take the RCA jacks and switch it to coaxial so you can go straight to the TV. These are available at Radio Shack and Walmart among other places.