That will be not quite easy.
First you need 2 Scart ports for the video. Or 2 Super VHS ports.
Next: how to control B&O equipment on Samsung hardware? There is no compatible IR command support. The Scart cable transmits this commands from a B&O TV to DVD1 and V8000… but you have no B&O TV or external IR receiver. So you can only use the keyboard, not the IR command.
The Beosystem 5500 can act as an external amplifier, no problem. Connect a DIN audio cable from your Samsung to a Tape oder AUX Input of the 5500. Select the input and it will play the TV sound.