hide "Cancel" button ABPeoplePickerNavigationController and add another button performs like Cancel button.

gistfile1.m

    //picker is ABPeoplePickerNavigationController
    [self presentModalViewController:picker animated:YES];
    UIButton* backButton= [[UIButton alloc]initWithFrame:CGRectMake(9, 25, 35, 35)];
    [backButton setImage:[UIImage imageNamed:@"btnBack.png"] forState:UIControlStateNormal];
    [backButton addTarget:picker.topViewController.navigationItem.rightBarButtonItem.target action:picker.topViewController.navigationItem.rightBarButtonItem.action forControlEvents:UIControlEventTouchUpInside];
    [picker.navigationBar.superview addSubview:backButton];
    //or you can use leftBarButtonItem instead of UIButton
    //picker.topViewController.navigationItem.leftBarButtonItem= [[UIBarButtonItem alloc]initWithCustomView:backButton];
    picker.topViewController.navigationItem.rightBarButtonItem=nil;

    //hide search bar in UITableView in ABPeoplePickerNavigationController
    //NSLog(@"%d",picker.topViewController.view.subviews.count);
    //NSLog(@"%@",  [[picker.topViewController.view.subviews objectAtIndex:0] class]);
    //UITableView* tableView=[picker.topViewController.view.subviews objectAtIndex:0];
    //tableView.tableHeaderView=nil;