pairing iphone 5c to car

I have been trying to pair my new iphone 5c to my 2012 Toyota Highlander and I get through all the voice commands given in my car until it is time for me to put in the passcode they give me which needs to be put into the phone. For some reason the keypad will not pop up. All I keep seeing is "Devices" Car Multi-Media. If I try clicking the Car Multi-Media I get a message that pops up saying to make sure the device is within 30 feet of the vehicle. I am sitting in my vehicle with my phone in my hand. Blue tooth is "on". Can anyone help me?