You're probably talking about Composite/CVBS video that uses an RCA connector (typically yellow). You may also have 2 additional RCA connectors for analogue audio (left and right, typically white and red).
Some TVs either still have these ports or I have seen TVs that use a 3.5mm 4-pole jack to feed this in, and come bundled with an adapter that terminates that to the 3 female RCA connectors needed for composite video and analogue audio.
The manual of the TV will enlighten you on whether you can do that or what input options you have. Worst case, you may need a converter to convert the analogue composite video to a digital HDMI signal or something else (depending on what inputs you have available).
Another question might be - what is the aim of connecting the VHS and camera? Just for viewing? Maybe you should consider spending the money once and getting a unit that can digitise the VHS onto another medium for future viewing, such as DVDs or just digital files. They used to be common, I'm sure you can probably still get those. Depends how much time/energy you want to invest.