I know there are some Icar systems I can hook up for 150 bucks,but is it anything cheaper and simpler ?

First you need to buy a special connector cable for aux-in compability,well,you can get that from electronic shop or from the dealership itself.Well,I dont know how do they operate it in Lexus,but in my car,you keep pressing the "disc" button until the display says "AUX-IN".Then start to play your ipod.

The wise-@ss answer would be "wear earbuds" but I know that's not what you want. I tried cassette adapters but they keep the cassette motors running on fast-forward which is annoying and would probably lead to premature failure of the head unit. I tried four different versions of the FM transmitter type, and none sounded good at all. With more and more religious low-power "drop-in" stations being approved by the FCC it's really hard to find a vacant frequency. I finally bit the bullet for a Vaistech unit and had my private garage mechanic install it. Not the cheapest option, but sounds great and there are no wires all over the place. I'm happy with it. Try www dot vaistech dot com to read about them. Good luck!