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connect them both, per the instructions, they are both required even if you don't use the steering control module.
as I recall the directions state to attach the C2R to the rear channels of the Aftermarket radio harness, so set the fade to full rear, this gives you full power/signal to the rear, setting it at the center cuts the power in half. the factory amp handles the cross over for low to the doors, (the factory amp actually handles all the controls, the factory headunit is a user control device, all the settings (bass, treble, fade, balance, crossovers etc) are handled by the factory amp).
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