How exactly do I go about hooking an iPod Touch up to my car stereo system?

First of all, my CD player in my car does NOT have an aux input. I heard there is a way to hook up an iPod to a car stereo system though. I have subwoofers and an amplifier in my car. I would like to know exactly what I would need to buy in order to hook my iPod to my car stereo system.

Any help would be greatly appreciated.

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