So basically, there's three ways to connect a sub to a stereo amp without a dedicated "subwoofer out", depending on the sub's connections:
1. line level, as I described above.
2. speaker level (or high level), as chelstondave described. If the sub has the "high level in" connections, that is. Often works very well.
3. Connect the preamp to the sub only, let the sub use the low pass signal, and send the high pass signal through to the power amp and to the main speakers. This way your main speakers are relieved from the bass duties, often resulting in better clarity and midband. But it requires "line level in" and "high pass out" connections on the sub.
Hope this helps.