How do I receive a feed from my Directv receiver to a second tv?

I have my receiver hooked up in the living room and would like to be able to watch tv in the bedroom off of that receiver. I tried hooking up a splitter and running a regular coaxial cable from the receiver to my tv with no such luck. Do I need a composite cable or an RCA yellow/red/white cable instead? I have the HD DVR receiver if that helps anyone, I believe the H21 model or something of that sort.