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Yes, go to Circuit City and buy a USA Spec Aux Adaptor. You will need the model labeled DF-TOY. I just put one in my 1999 Avalon, and it works great. It plugs into the back of your stereo, right where you would normally plug in a CD Disc Changer. There is a cable that runs out of the back of your factory stereo, and into a box, which has 2 sets of audio inputs! You can then plug a "Y" adaptor into one set of inputs and then plug that into your MP3 player. Circuit City wanted $100 to install, but I went to a privately owned audio shop and they put it in for me for $35. If you know how to tear the dash apart, you can do it yourself very easily.
Hope this helps.
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