The best way is to use a 3,5mm stereo jack to 2 RCA cable like this:
You can easily find one like this at your local audio/electronics shop or buy one
on line. You have to connect the RCA at any free stereo input at the back of your Pioneer (like aux or cd). Take a look at this picture:
After this you can use the 3.5mm stereo jack for connecting not only your
ipod but every mp3 player or other device has an
earphone jack. Just plug the 3.5mm jack at the earphone jack and rise the volume at the portable device up to the middle of the volume range and set your Pioneer input selector at the stereo input that you connect the 2 RCA before (aux or cd)
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