How to use DLNA function on WNDRMAC?

I got an iMac, Netgear WNDRMAC and DLNA compatible Panasonic TV. I just don't know how to use the DLNA function so that I can view video/pic stored in my iMac on my TV.

When I search for DLNA server on the TV, it simply says "could not connect to server"

Also I don't have any clues on how to get into any form of DLNA connection from my iMAC.

Would anyone please help? Thanks