[DonRotolo]

+5v goes to a source of 5 volts
GND goes to a ground pin on the Analog Breakout that is in slot 1 of the cRio.
AN should go to an analog signal input that can take 0 to about 3 volts, such as on the Analog Breakout. That voltage will tell you the distance the sensor is reporting: 2.56 volts is 256 inches, 1.00 volts is 100 inches.

Please note that you should, if possible, get the 5 volts from the Analog Breakout, and use that ground as well, otherwise that AN voltage will be somewhat inaccurate. But I'm not going to do the work to look up a source of 5 volts for you, that's your task.