First there should be a USB port in the centre console or on your dashboard.   Connect your iPhone to this USB port using an MFI (Made for iPhone) Lightning cable and on your car display Apple CarPlay will either display automatically or it will display an Apple CarPlay icon on your system menu screen, tap this icon/button to launch Apple CarPlay. If you do not have any of these mentioned above, then it is likely that your car system does not have wired CarPlay enabled.