Go to Menu > Settings > Call Settings > Voicemail Settings.
Where it says voicemail number, after your phone number, add two commas (,,) and then your PIN followed by the pound sign (#). The commas provide a 1 second pause each, then your PIN will be automatically entered, and then pound (#) is entered. Voila. No more dialing your PIN.
Settings > Call settings > Voicemail settings > Add a comma after the voicemail number and then type in your pin. You may want to add additional commas to give your phone more time to connect to the VM. Hope that helps!
This solution works perfectly. Thanks Martin et al .
Now I have to figure out how to put a "Voicemail" icon on my Home screen so I can approximate one-touch dialing. OR, better yet, figure out how to use voice activation - I'm new at this but having a great time figuring things out. Love this form!!