How can I undo the "Do Not Ask Again" for bluetooth contacts? When I first connected my phone (Samsung Galaxy S II) to a bluetooth device, I was prompted that the device wanted to access my contacts.

I mistakenly clicked Do Not Ask Again but I want to undo that. Is there a way to do this?

I'm running ice cream sandwich.
Try putting the device in discovery mode before you sync it on your phone. I ran into the same issue and that is how I resolve it.