Fred,
This can be done, and the simplest way is to resistively join the two 'hot' leads via a couple of 47K resistors. This point is then the summed node, which can be fed to the subwoofer, but this configuration necessarily reduces the signal output so you might need to turn up your sub a fair way to compensate.
The other way is to sum the two channels into an IC opamp buffer, using a standard summing configuration like the one above, with a gainset on the IC to compensate the loss.
Choose a good IC and you won't notice the additional chain of amplification.
Cheers,
Hugh