iPod for 2005 X-Type

Anyone out there had any luck connecting their iPod to the X-Type
stereo system? I've been using the FM transmitter and am getting tired
of the terrible sound quality. I've seen a few products advertised that
can connect to the auxiliary plug (or something like that) in the rear
of the stereo or at the CD changer. I don't really want to give up the
changer, but I would rather have the iPod. Any suggestions?

Thanks,
Andrew