You are confused. The Red (Orange?), Blue, Green wires are COMPONENT Video, not composite. The Yellow one is Composite Video. So just use the Yellow/Red/White leads.
Unless that was a typing error and what you actually meant to ask was "How do I connect the DVR to the Slingbox to get an HD signal" ?
The answer to that is you can't without buying an HDMI-Component converter (HD Fury III is the recommended one). Then you plug the HDMI output from the DVR to the HD Fury, then component cables to the 350 then component cables to the TV.