You need to do it on the phone.
Go to "settings" on the phone, select "Bluetooth", select "my devices".
Turn on the car's ignition and then select "search for new devices" (on the phone). You only have a short period of time between turning on the ignition and pressing "search for new devices". It should find the Audi bluetooth device. Highlight it and enter your Password (1234 by default) then "autorise device" for the car's bluetooth to upload your phone book (only if the car is compatible with the phone).
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