ill instruct you the way i did it with my phone (envy 2).
i went to the bluetooth menu and went to ADD NEW DEVICE
on the AVIC select the 3rd option that says connect to mobile phone.
on your phone it should say PIONEER NAVI
select that and when it asks for a passcode i entered 1111.
then just select the option on your phone to connect and you should be golden.
it may be different with your phone but that's how i did with mine.