How to play music from your iPhone in the Kia Sportage?

My girlfriend has a 2011 Kia Sportage and we can't figure out how to play tunes from an iPhone on the car stereo. We've tried hooking up both an iPhone 5 and an iPhone 4 to the USB hookup and all it does it beep. It won't connect to the stereo. Unfortunately, the owner's manual is no help. In my Chevy, it's a piece of cake. You just plug it in and the music starts playing.

Does anyone out there have any ideas on how to get it to work?

What stereo is it, maybe its incompatible with an iphone 5/4 or you need some special software on the iphone to use.

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