subwoofer to speaker connection

I am a novice and would like to seek advice from fellow Audiogonians. In  reading the forum 128025-84361 (Jan this year) on speaker and sub connection, I am intrigued  by the comment   from rcprince “Virtually every review I have read remarks on how the mids and upper bass from the main speakers are improved when you add a subwoofer…”. I have a pair of Focus Audio Signature Series (Model 78) speaker and one Audio Physic Luna sub. Would connecting these 2 produce improvement in the sound of music? If so , how  can I  best connect my sub and speaker ? I don’t mind buying the high pass filter and inline cross over as mentioned in the above forum, if needed. Moses