Can you be more specific about what you're trying to accomplish?
Are you wanting to send a signal from the Tascam DP-24SD into the Yamaha mixer? Or the other way around - sending an output from the Yamaha into the Tascam?
I'm pretty sure you can simply connect the output(s) of the Yamaha to any of the 8 inputs of the Tascam using T/S cable(s). Make sure the adjustable input control of the Tascam are adjusted fully counterclockwise to "Line".
You can also get great support for using the Tascam here: