Waze and Android Auto

Hey guys.

So I've been using waze for a while and I really like it. Now, I recently downloaded Android Auto since I heard it's compatible with Waze. But I can't manage to use Android Auto with Waze, only Google Maps. An important note is that I don't have a car compatible with Android Auto and I'm just using my phone.

Am I doing something wrong or it needs a car with Android Auto compatibility?