Here's a great post by @JimScott with a snippet of code:
The basic function is:
window.onscroll = function() {scrollTimelineSync()};
function scrollTimelineSync() {
whatScroll = (document.body.scrollTop || document.documentElement.scrollTop )/ 36
hypeDocument.goToTimeInTimelineNamed(whatScroll, 'Main Timeline');
hypeDocument.triggerCustomBehaviorNamed('arrow-start')
}
The '36' number is sort of a magic number that you should change based on how fast or slow the element should move based on the rate of scroll.