IPhone with IOS "Trust this computer" keeps popping up

I have upgraded to ios 7 on my iphone, but when I now connect my phone to my car (ipod connectivity) it pops up with the "Trust this computer" box! but disappears quickly and then keeps popping up and disappearing.  I don't even have time to click TRUST!!!!
After a couple of tries the car says there was an error and stops trying.  What the **** is going on!
If no one knows, maybe you can tell me how to downgrade/restore to ios 7 as without this connectivity I can't listen to my music in the car?

I finally fixed it!  Don't know really how but here goes what I did.
You all agreed that before IOS7, by simply plug usb cable between PC and iphone that was it?!
Updated to IOS7, liked it a little, noticed slowness, but was fairly acceptable. My problem started when I was not able to sync my outlook calendar, contacts, etc. to my phone then I freaked out, because kept having this "do you trust this computer again and again when I clicked Trust.... got me crazy.
Someone told me to use iCloud. Did, but I can check my Iphone contacts on a website! not what I was looking for. Then I downloaded ICloud for windows, so I can sync (another procedure) to my outlook. Ran it, restarted, found that my wlan card was disabled, fixed it, restarted (anxious), when back, checked some changes made in outlook, more folders and buttons, but it seemed to work.
I plugged the usb cable and iphone to my pc and Viola! they synchonized!! via usb cable!!
was it the cable? the icloud installation? the rebooting? don't really know, but it works now...
I was this close to return to IOS6 by doing all those creepy steps, but it is ok now...
Please let  know if it work for you guys!!
cheers!
Manny

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