Yes, I use an RCA to HDMI adapter which then has an Apple HDMI to Lighting adapter plugged into it. This is all tucked neatly under the front passenger seat with just a lightning cable hanging out of the center console. We feed the kiddos TV/Movie fix off our iPhones or iPad. It is really nice having the ability to control the shows from the front seat (Since our kids are 2 and 4).
For our use the system basically permanently stays in the Aux input mode. The only thing we do in terms of controlling the system from the vehicle controls is turn the volume up and down. Kid's love their movie theater on the go and has made longer drives much easier.
I would recommend finding a set of RCA A/V cables that have 90 degree connectors. This prevents them from sticking out into the foot well where they could get kicked and damage the cables or plugs. I can't take some photos of how we have it all setup if you are interested.