Adding the factory navigation system to a Prius not equipped as such is prohibitively expensive (too many missing parts, such as the steering wheel/bezel change, the navigation ECU box (has gyroscopes in there as well), the antenna (lives behind everything in the dash), the GPS DVD, and the wiring harness...) I haven't heard of someone yet attempting this as a DIY job (using wrecked Prius parts) on a 2004-2009 NHW20 Prius. (There's fewer missing parts for a 2001-2003 NHW11 Prius as compared to the NHW20 Prius like yours, so there's been a couple of DIY upgrades, but not cheap/easy...)
There are debates on owner's lists as to just how poor the factory navigation system is, as compared to other portable aftermarket solutions. (Update DVDs with new maps/POIs come out maybe once a year for about $300, for example.)
The usual consensus is that if you want navigation (especially if you did not already get it in your Prius when you bought it), to go with an aftermarket solution from Garmin, Magellan, TomTom, or the like. You can get a good basic system for maybe $300.
Otherwise, trade in your Prius for one that already comes with navigation.
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