This is how I set up my Google Voice.

I like it because it works with Universal Search and Speed Dial. I made a video for demonstration.

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This is basically how gdial and dkGoogleVoice in the homebrew forum works.

For each contact, create another phone number like this: "(xxx)xxx-xxxx t2 (yyy)yyy-yyyy#"

Replace (xxx)xxx-xxxx with your Google Voice number. Replace (yyy)yyy-yyyy with your contact's number.

I do this in my Google Voice Contacts page, and Synergy ports the numbers to my Palm Pre automatically.

So when you dial this long string of numbers from the person's contact information, it will dial into your Google Voice voicemail, pause (t), dial 2 to place a call, dial the number of the other person, and then press the # key to connect the call. It will appear to be coming from your Google Voice number and, if you have your Google Voice number as your Pick 3/5, you will not be charged any minutes.

This method will only take about 12 seconds before the other person's phone begins to ring.