iPhone Mirroring passcode loop on Macbook Air

I open the iPhone Mirroring on my Macbook Air and it asks me the passcode to my phone, sure, okay. I punch it in on my phone and press connect. It asks me for my passcode again. This cycle continues endlessly and does not stop. Any idea how I can fix this?

[Re-Titled by Moderator]

Original Title: iPhone Mirroring on Macbook Air asks for my iPhone passcode after I type in passcode on app. Endless loop