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^ While the phone is in the cradle, go to Multimedia > External Devices and select your phone. Then on the button stack on the left edge where you'd select your music library, skip tracks, etc, you'll see a Videos button. But you have to be using the Media cradle (not Music) and it only works for videos actually stored in your Videos library on the phone, i.e. you can't use it with the YouTube app or any third-party video apps on the phone.
You might also need to have the handbrake on and be in Park (assuming you have DCT).
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