Dean,
Do some web surfing for car audio info. Crutchfield.com is a worthwhile look.
Psycareyo gave some good info. To match impedance from sub to amp you also need to know if you'll be wiring in parallel (both hooked to the same outputs on amp) or series (one hooked to amp and second hooked to first).
You'll need to run power from the battery to the amp (fused), then find a suitable ground. You'll need to find a "turn-on" power source in the fuse panel to trigger the amp when you turn the key on.
Then, you'll need a line converter to take the amplified signal from the stereo and turn it into a signal the amp can understand.
You're best bet is to replace a factory head unit with aftermarket with "pre-amp" (RCA style) outputs, turn on trigger for the amp, crossover control to adjust frequency cut-off, etc.
This isn't difficult, but cheap won't bring you bang for the buck. If you're set on doing what you described, have at it. Be reasonable in the questions you ask, this isn't like baking a cake. You need to understand basic electrical theory and that information is at your fingertips...
Last question, why have the subs sitting on back seat? If it's because they don't fit, sell them. Buy a new high end head unit and high quality replacement speakers and you'll never want for a sub again...unless you just want to make everything rattle in your truck.