There are many ways doing this.
If your car has an auxiliary input jack, then you just need to find wire to connect your Sirius to the car's audio system.
If your car has cassette tape, then you can buy a connector at local audio retailer. Typically the kit will have a wire that connects to your Sirius, and the other end of the wire connects to a 'fake' cassette. You just need to insert that cassette to your car's player so that the player would assume it is a regular cassette.
Otherwise, you can purchase a kit that has a wire that connects to your Sirius, and the other end of the wire goes to a box that transmits radio signal (usually in FM band) that your car's radio can receive it.
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