Never mind. I got it. If there's a better way please let me know.
I simply included the connection to the database in the config instead of a class and made an object. I then included that config in every single page I will need to access the database. From there, every class that needs to use the database (and each class being included on the page with the config included first) passes the global $db, which is the object, into a private function in the class.
If there is some sort of security issue in this aspect, or a more efficient way to do this please let me know. It's all I could get to work.