Hi, yes, your car has aux plug, but it is at the back of your factory radio.
You actually need to buy iPod kit for Toyota online (e.g.
http://www.gtacarkits.com/car_models.php),
take out your factory radio and plug the kit at the back of the stereo (all Toyotas starting from 1998 have additional port in the stereo).
After you need to feed the iPod wire from the kit through the glove box or under your console.
If you are handy, it takes up to an hour for the complete install.
Good luck,
Max