Put your AirPods in their charging case and open the lid
Press and hold the setup button on the back of the AirPods case until the light flashes white
On Apple TV, open Settings
Select Remotes and Devices
Select Bluetooth
Choose your AirPods from the list of available devices
Select Connect
Wait for the connection to complete
If prompted, confirm the pairing on Apple TV
To reconnect later, open Control Center on Apple TV
Select the AirPlay audio icon
Choose your AirPods from the audio output list