I have an almost-identical portable solar setup, but larger (85W panels + SunSaver MPPT-15 controller).
How I did it is with 2½ feet of #10 wire with strong clips to connect the controller to the battery posts.
For the panels, I have 50 feet of inexpensive #10 landscape lighting cord that plugs with a DC quick-connect terminal at both the panels and at the controller. I also fabbed up a "reel" (if you will) out of some 1/8" aluminum strip to wind the 50' of cord onto the back of the panels so it's carryable as one.
I can have the setup connected to any battery & charging it in maybe 1-3 minutes.
For your setup (being smaller), you should be able to substitute #12 or maybe even #14 wire for the #10 that I used for mine (I'd suggest #12 for your panels since your panels would be in parallel where mine are in series for the MPPT controller).