Is this your Plasma?

I see a manual at

I read "LCD 420 does not support AV, Component mode" which means there would be a convertor needed to use this camcorder. But I can't tell if this applies.

Page 177 writes "If you are using an AV composite input, connect the video
cable (yellow) to the Green jack of component input 1 on the TV."

The web site does not readily tell you where to connect the audio. I read "DVI Audio In (Mini Jack) x 1" so it's likely you'll need some converter from your camcorder to this connection.