On your iPhone, go to your contacts, then touch the contact you want to make changes to. Then press the 'edit' button in the upper right corner. Then touch the arrow on the right of number you want to edit. Enter the number, and use the '+*#' button on the lower-left to get to the special keys - on that alternate keyboard you will find the proper buttons to insert pauses and # or * into your dialing strings.
I have a conference bridge that requires # and pauses to start up. I set up a dialing string and all I have to do is choose the contact and wait while my iPhone does all the entries for me! Enjoy.