I know this is an old post, but it needs to be answered if it hasn't anywere else on the forum.
Just in case anyone ever looks at this thread, to put the vehicle in ACC, have the Intelligent key with you, and push the START/STOP button as you would starting the car. The only difference, DO NOT press the brake pedal.
This will put the car in ACC so you can listen to some tunes or whatever without the engine running.