The phone can be anywhere inside the car to pair.
I too have a V551 and although I do not remember exactly what I did I do remember that it was very important to follow the BMW instructions to the letter.
The phone - go to the icon with the screw driver and wrench -
then to "connection", select bluetooth and it will look for the car and the car will look for the phone.
then to the "car settings", settings should be Auto answer "off", Auto handsfree "on"
not sure about the others but I have Power-off delay "30 minutes" and charger time "off".
I also recommend that when in the car keep the phone plugged in to a charger. I only get about 30 minutes of talk time if the phone is not plugged in.
Good luck . . .