Yes, you can connect the sub via the sub pre outs to your amp. Sub will need to be powered from mains, so make sure you have a spare socket. Unfortunately this is where the simplicity ends. It will be down to you to integrate subwoofer and the speakers. Subwoofer has settings that determine its volume and the frequency it will play at. Integration (how well speakers and sub play together) is not only equipment and room specific but also room placement specific. It will be difficult to help you to do this on a forum as even where you sit in the room will make a difference. It's not impossible but you'll need to answer a lot of questions
It's also likely you will run the sub too loud making overall sound quality worse and not better. Which we won't be able to help with.
Ideally you'd need a measurement microphone. You mention not being very technical. It shouldn't be a problem however it may take far longer.
Onto more technical bits. By the looks of it your Denon doesn't have high pass filter when subwoofer is engaged. That means your speakers will play full range and you will need to utilise the crossover built into the sub. That's makes it a tad more difficult to integrate and doesn't give you as much benefit.