Connecting old set top box to new TV

I have a Motorola QIP2500 set top box. I plan on getting a new TV. What is the best way to connect this box to the new TV? Options on the back of the set top box are.... Digital Audio Optical, S-Video, component video cables ( audio = red and white cables,  video= yellow cable), Digital Audio Coax (orange cable)  and the regular coax cable

Thanks for any helpl with this.

pk