There were several different units installed in these vans. The most common in 2004 was dealer installed and used an FM module to transmit the audio signal to the radio. Normally you simply turned on the unit and got a movie to play then tuned the radio to a specific station. Not sure what the station is at this point but if you use the seek function you might find it and can then set the station as a preset.
some units used a module that connected to the disc player input of the radio. If this is the case, you simply have to hit the aux button on the radio to hear the audio from the dvd.
In some cases I've seen problems with the connection on one of the big DIN plugs used to connect the dvd player to either one of these modules. It simply get pushed in too far and stops it from working. Pulling the plug out an 1/16 th of an inch from where it bottoms in the plug and it will work fine. The plug is like a big S video cable only twice the size. You normally find this on the module which is typically mounted behind the radio in the dash. if this plug is not connect right the head phones may not also work.
There is a function on most of the DVD units to transmit sound to the headphones, the radio, or both. You may also wish to check this setting. It's in the on screen menu functions of the dvd.
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