How to download CD's to my iPhone?

Okay so I have looked and looked for answers to my question and no one could help so how do I download a CD to my iPhone it already on my laptop but everytime it goes to sync it says something like you can't download it to you phone because you have a 5.1 Version Please Help

First rip your CD to mp3 (use itunes or window media player). Then just add your mp3 songs to itunes list and add to iphone