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It tells how to do it in your owners manual. Do you have one Key fob to start with? If so and you dont have your manual, Ill get mine out and post up the procedure. If you dont have one Key fob you ll have to take it to the dealer.
In that case all you have to do is buy one for you rig and then bring the one you bought to the dealer, Or if you don't to do that option go to the dealer and they will sell you one for a little more and do the programming for you.