Is there a way to answer iPhone without swiping?

I love my iPhone, but it is NOT car-friendly.  Is there a way to answer an incoming call without having to swipe?  Possibly tapping one of the other buttons?  I have looked in the manual.
Thanks.

Well, I've been using an LG Tone. It's actually a stereo headset because I listen to a lot of music. It looks really weird but I like it a lot. I think the reason I like it is because it feels more like a "regular" headset. When driving, I just pull one side out.
http://www.amazon.com/LG-Electronics-Tone-HBS-730-Bluetooth/dp/B009A5204K/ref=dp _ob_title_def
Should you get one, be warned that, when the phone rings, the part that rests on your neck vibrates. Even though someone had told me about that feature, I still almost jumped out of my skin the first time it happened. .

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