Soldering is the ideal option, but if you don't have a soldering iron on hand, the bare minimum is to strip the wires really well, twist them tightly together, and use quality electrical tape (the cheap stuff won't cut it). Just keep in mind that RCAs are sensitive to noise if you don't make a solid connection, so it's better to grab a cheap soldering iron or get help from someone who knows what they're doing - in a car, audio is the last thing you want failing on you. A tip you don't see much: if the wires are broken far from the connector, just cut off that damaged section and strip everything clean before joining, a lot of times the problem is you're trying to salvage old cable that's already degraded.