Hardwiring an iPod to stock radio

I got a new 20 GB iPod today and have been trying to research on how to wire it to my stock head unit so as to bypass all that FM transmitter and tapedeck transmitter junk. I need to know exactly what I am getting into. Including cables, converters, chargers etc.

What I am trying to accomplish is playing my iPod music through my stock head unit without losing any sound quality. I also need to know how the iPod will stay charged and where it can mount.

Here is my existing setup.

2001 Toyota stock radio with cd/tape
Kenwood 300x2 amp powering 2 JL W0 8" subs
Infinity components (no amp, just stock head unit power)

Any help would be wonderful. I want really clean sound with a clean looking installation.

Thanks for the help.

Justin