My sisters in law bought a beautiful 2006 Toyota Corolla Verso. They could not get the iPhone to pair with the car’s Bluetooth system. The dealer told them that this was an iPhone problem, but after some fiddling, it turns out there is a simple workaround. If you want to pair an iPhone to your car, and the car says “pairing failed” as soon as you tap on your iPhone, this simple trick might help for you. This article contains detailed steps for the Toyota Corolla Verso, but on other cars this might work too.