Seems that this fixed in bluez, I have successfully pair with Ubuntu
Lucid and bluez version 4.70-0ubuntu2
** Changed in: bluez (Ubuntu)
Status: Confirmed => Fix Released
** Changed in: blueman (Ubuntu)
Status: Confirmed => Fix Released
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bluetoothd Permission denied (13) when connecting A2DP headset
https://bugs.launchpad.net/bugs/437649
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