If dark matter is essentially cold and orbiting our galaxy in slow moving streams, then these streams may be (likely would be) flowing through our solar system.

The dark matter would not interact with our normal matter- it would flow through the planets without any interaction with the matter that makes up the planet... but it WOULD be affected by the planet's gravitational field.

The planet would effectively act like a lens for dark matter- focusing it, concentrating it at a point in space 'downstream' of the planet- this concentration could be very significant- with Jupiter potentially concentrating dark matter by a factor of hundreds of billions over the background level...