Yes, I am able to do this with my iPhone 4 and iPad. I have the Apple branded Video out via iPod connector to Composite cables.

I connect the yellow, red, and white RCAs from the Apple connector to the video/audio in RCA jacks on at the bottom right of the rear DVD stack.

I believe you select AUX on the rear DVD menu to access it. Plays flawlessly either over headphones or through the car speakers if you select Rear AUX on the front iDrive.