Setrumpet

Hi, I have a ford Taurus 2006 sel. I have the regular factory stereo, and I would like to hook my iPhone up to it. I tried an fm transmitter but did not like it. Is there any way I can hook it up to the factory stereo? I have read about the pie adapters. Will they work at my car? I am open for any suggestion! Preferable the cheapest. I would really appreciate some help! Thanks Christian