OK I do not have a Lexus, but I have a 2004 Prius with Nav and Bluetooth and as I understand it the Bluetooth is the same. It took me like 45 seconds to do it. I did not touch a manual. Go to the phone and then the set up. In my car it gives you the default password. Go to the settings-> Network -> Bluetooth on the iPhone type in the password and you are in. Uploading you phone book is another issue but can be done from you Mac or PC with Bluetooth or with a older Bluetooth phone.