One way to connect Google Home with your TV is via a Google Chromecast or Chromecast Ultra media streamer that plugs into any TV with an HDMI input.
Typically, a smartphone or tablet is used to stream content through the Chromecast so you can see it on a TV. However, when a Chromecast is paired with Google Home you have the choice to use Google Assistant voice commands through your smartphone or Google Home.
To get started, make sure the Chromecast is plugged into your TV and that it, your smartphone, and Google Home are on the same network. (This means that they are connected to the same router.)