Your setup sounds a little strange to me; all HDMI equipment should go into your receiver's IN ports and one HDMI OUT from your receiver to your TV.
I am not sure how you get sound out of your satellite box unless you are using ARC already, or you get audio out via a different method/cable.
In any case, it depends what kind of audio output you have on your TV.
1. The best solution (as suggested) is to check your receiver if it has an audio return channel - ARC - . You can read all the details HERE
3. Another solution is what brendo suggested first. Your TV may also have a 3.5 mm to RCA out as well; see details HERE
I hope this helps; if you need more details, post your exact TV and receiver model.