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I have iDrive and the MPX220 connects fine, it just doesn't stay connected.
For the IDrive: Goto Settings, Communication Settings, Bluetooth, Devices... While it is on this screen, go into your phone, active bluetooth and do a search. It should find your car, enter any passcode. Now your car should pop up a message about your phone connecting. Enter the same password and you should be set.
Make sure bluetooth on the car and phone are both on first.
I do not know the instructions for non-iDrive, but I believe you have to go into the menu, into phone... and not by pressing the phone icon on the stereo.
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