If the device is trying to connect when you plug it in, then you can try and find the connect button to tap. I have attached a screenshot from the my Aura H2O to give you a guide. This has the same resolution as the Aura HD, so the buttons should be in the same place. The only problem might be the firmware version. I am running 4.33. It should be the same positions in recent firmware, but, I don't know about if you go back to 3.x versions.
But, if you start from the middle of the screen and start moving down, you should find it.
And to save the hassle if you need it again, if you are running a fairly new firmware, you can enable the auto connect. This is done with a config file entry:
Code:
[DeveloperSettings]
AutoUsbGadget=true
EnableDebugServices=true
The last line is not needed, but, it enables other things such as telnet. That might be handy while you are sorting things out.