A Toyota keyless remote can be programmed by activating programming mode, holding the key's lock and unlock button for two seconds, and then pressing the lock button for three seconds. This universal method works on all Toyota keys produced from 2003 onward. Older models do not have a universal procedure.
The key should be put into the ignition without being turned twice while the driver's door is open to activate programming mode on a Toyota vehicle. The driver door should then be closed and reopened twice. The process putting the key in the ignition and closing and opening the door twice should be repeated once more. Finally, with the key in the ignition, the door should be closed, and the key should be turned into the on position and then back off. At this point, the door should lock, and programming mode has been activated.