OK, so here is what you want to do, pull out your HU and look back there, hopefully it will have three sets of RCA preouts. One of them should already be taken up for the subwoofer. Careful to read what each one is because on some HU they put an input on them that looks the same. Generally they will be labeled, Front(F), Rear® and Subwoofer(SW), if there are only two it will have F and R/SW.
In the case of three outputs run RCA from the HU's F and R outputs to the 4 channel amp. make sure that you use the channels on the amp that match up to the way you have the RCA. For example if you ran the F to channels 1 and 2 then you should hook the front speakers to output channels 1 and 2.
In the case of just F and R/SW, Honestly I would recomend picking up another HU with 3 preouts, but if you cant or dont want to I understand. In this case I guess you can pick up a y adapter, it is a RCA adapter that turns one output into 2. Place a Y adapter on each of the F preouts and then run like mentioned above.
For power, you can always run another power wire from the battery, or if the one you ran for the sub amp is fairly heavy guage, you can pick up a distrobution block and split the wire you already ran near the amps to get power. For the ground on the 4 channel amp, I would try to ground it in the same place as the sub amp, or at least as close as possible. Remote wire, as long as these amps are the only two things using it, just use a crimp and split it near the amps...
I know this is pretty confusing if this is your first time so if you PM me your email adress I will draw up a picture of your options and send it to you