I've heard/read that Hyundai sells a "special" cable that has both USB and the analogue audio connection built in. This seems silly since the USB cable alone is enough to control the iPod, but was likely a money making decision. You probably need the official Hyundai/Kia cable. eBay should have some cheaper ones than your dealer.
This may be what you need.
http://cgi.ebay.com/NEW-HYUNDAI-FACTORY-2009-iPOD-INPUT-AUDIO-AUX-USB-CABLE_W0QQitemZ390112234847QQcmdZViewItemQQptZLH_DefaultDomain_0?hash=item5ad4804d5f
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