My parents bought one of those scion box cars to drive around town. It has an aux. input in between the seats. I'd imagine your scion does too (I think they all use the same pioneer radio).
If that's the case you just have to buy a cable from radio shack or bestbuy with a headphone sized jack on both ends. Plug it into your iPod and the car, select the aux. input on the radio, and listen to your music.
As for power, there's a number of third party iPod car chargers. I bought a belkin one a few years ago that I never use.