Does your amp have speaker-level inputs? If so, all you need to do is splice into the factory harness and run it to your new amp. If your amp DOESN'T have speaker level inputs, you'll need a line-level converter. You can get a scoche brand kit, or anything from a local car audio store, but sone of the highest quality LLC's I've ever seen are the ones made by David Navone at
http://www.davidnavone.com/. It's under the link "Adapters" on the left hand side - his hardware is highly praised at DIYMA and CA. Depending on your installation, you'll need either a 4-channel or 2-channel converter.
Here is the sticky on the wire colors for the factory non-bose headunit:
http://forums.altimas.org/zerothread/337239