Here is the script to put into Queen Beecon to dial a contact.

dbus-send --system --type=method_call --print-reply --dest=com.nokia.csd.Call /com/nokia/csd/call com.nokia.csd.Call.CreateWith string:"$NUMBER" uint32:0

Change $NUMBER to phone number you want to call.

Check the phone control wiki to see if there is anything else you may find useful.

http://wiki.maemo.org/Phone_control