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It depends on the year of your vehicle. If you have an AUX button and its 05 or newer you need an adapter that plugs into the back that provides you rca inputs to hook up your device.
I hooked up an XM Roady2 with a built in FM Modulator to avoid having to fiddle with the wires on the truck. I'm not sure if anybody has ever gotten the AUX option to work with satellite radios, but it has been discussed quite a bit. Do a search in this forum for it.
Search the forum for "aux" or satellite radio or something...there are a ton of posts out there...i have one posted with detailed instructions and pictures.