To use any source from the 950 through the receiver, you'll need to connect analog cables from all of them (even though you won't use those analog connections at the 950). For the moment, though, we can use the VCR's analog connection as a test for troubleshooting purposes.
If you want to simply "duplicate" the 950's active source in the kitchen, the tape output would be a better output to use since it will automatically follow the 950's active source and it will leave all volume control in the hands of the receiver. If you want to have be able to listen to one source at the 950 and a different source in the kitchen, the way you have it hooked up now is the way to go. For now, we'll focus on the latter case.
Get the VCR fired up and playing something (either with the VCR's TV tuner or a tape). Now get the 950's remote and get multizone turned on and switched to the VCR's input (page 36 in the 950's manual): press MULTI in the remote, use the < and > buttons to switch "MULTI-ZONE" from "OFF" to "ON" (the little LED to the right of the standby/mute LED will come on to let you know that multizone is on), press MULTI again and use the < and > buttons to select the desired input for the multi-zone output ("VCR" in this case), press MULTI two more times to skip past the "MUTE" option and get to the "VOLUME" control. I'd probably set the volume somewhere around -10dB initially, since there's a second volume control downstream. Once you've done all of that at the 950, go to the receiver in the kitchen and see what you can get.