carplay and 2017 Pacifica

I just bought a 2017 Pacifica and cannot get CarPlay to find the car or connect to be able to use the map function on my phone. I am able to make phone calls, play my music, and even voice text through the car interface and my phone, but CarPlay will not find my car from the General settings of my phone. Do I need to do something with iCloud to make it work? Please help me! I am getting so frustrated.