In the console there is an aux socket and a USB socket together with a power outlet.I don't have an ipod but others say there is a cable - in the loan rio I had last week there was a special ipod cable in the glove box and this seemed to plug into both sockets.
(I use a USB flash drive for music/comedy)
Sorry, but I've just been to check mine as I thought I might have been having a senior moment.In the bottom section of the centre console/armrest there is a power socket and under a covering flap an Aux and USB port. Page 4/102 of the handbook shows this.
What version of the Carens do you have? If its the base version then I suppose its possible they didn't fit one in order to save $2!
I have the LS and my brother in law the GS - he has the sockets as well.