the eaisiest way to do this that I know of requires you to replace the head unit. Factory Toyota head units do not have aux inputs. I have a alpine deck with Ai net. This interface is the cable that connects the cd changer, XM tuner, DVD etc. There is an adaptor with AI net connectors on one end and rca's on the other. You could go directly in from the Head Unit. or daisy chain from a Changer, XM etc. But the chain will end with the rca's. Then go down to Radio shack get a mini headphone jack plug to go into Ipod and on other end of cable rca's plug in to AI adaptor, activate aux input on deck and you can enjoy stereo Ipod. I have done this with my wife's Ipod and I sounds really good compared to RF modulated adaptors