How to fix drain on new laundry tub?

We are moving into a new house and I want to install a laundry tub next to the clothes washer.
I plan on using some kind of "T" connector to share the hot and cold water sources between the tub and washing machine.
How can I connect the tub drain to the drain pipe for the washing machine?
This pipe is in the wall, behind wall board, with only the top opening exposed.
I realize I would have to make the connection down near the floor for the drain to work. Just don't know how to make the connection.
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