One option would be to use a SCART adapter with left/right audio breakout:
http://cpc.farnell.com/pro-signal/ps...out/dp/AV14610
That's only really needed if you are currently using both SCART ports currently, otherwise you can use the adapter that spiderplant suggested in the VCR SCART port since on the Samsung V+ both outputs are identical.
Another option will be to use the optical S/PDIF connection that both the Samsung V+ and Denon AVR-1906 have in common.
Do you put your video through the amplifier also? The Samsung V+ doesn't have the red/green/blue Component connections that the SA V+ has.