2006 Audi a6 3.2 v6 S-Line
 

Hi im pretty new to this but I got a new Audi yesterday ! I was wondering if there's any way to connect my iPhone to it... It seems to only have a 6-disk changed. It does include a Navi (stock)

Oh and when I say connect my iPhone I mean connect it and listen to music !!! It has Bose surround sound ;)

You either need to add the Audi AMI module or a Denison GW500 to the car. Both tap into the fiber optic MOST optical bus which sends infotainment information around the car. The Denison is about $400 and the AMI is perhaps $800 new (with all of the necessary cables). There is also another module which comes from eastern Europe which people have been happy with and it is probably in the $250 range. I cannot vouch for it. I used to have a 2006 and I installed the Denison and was quite happy with the unit.

Note that because the sound output from various devices in the A6 are send around the car as digital signals there is no inexpensive way to tap into the sound system with something like a simple AUX cable with a 3.5mm audio jack.