Alright... let's see how close I am on this. lol
K, you have a 4 channel amp, but since it's only 1 set of speakers, you can bridge it to 2 channels. That amp bridged puts out 100 @ 4 ohms and your speakers take 20-140 @ 4 ohms so it should work pretty good. Now, you'll have to look at the labeling on the amp to make sure which 2 you can bridge with each other. Then, hook it up as follows.
Unless someone who knows more about multi channel amps and door speakers has other thoughts...