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This Video will show you exactly how to do this.
http://www.YouTube.com/watch?v=SBtdQzL96bw
For most 02 GMC trucks:
- get in truck and close doors
- insert key in ignition
- press and hold lock UNLOCK button on driver's door
- turn vehicle on and off (as far as you can without starting) twice
- release lock button on door. Door locks should unlock and lock to indicate programming mode
- hold lock and unlock buttons simultaneously on remote you want to use. Make sure it is the correct code for the vehicle year.
Repeat 5& 6 for additional remotes
7. Then turn the ignition key on and off to end the programming mode.
Here are the exact programming instructions for a 2002 GMC Sierra from http://www.programyourremote.com/ along with one more step that I added to end the programming mode, which I verified work by using them on my vehicle (I made the correction in the above instructions reflected in bold):
1. Close all vehicle doors.
2. Insert the key into the ignition.
3. Hold down the power UNLOCK button on the driver's door panel-continue to hold down until instructed
to release in step 9.
4. Perform steps 5 through 8 in fairly rapid succession.
5. Turn the ignition switch to the ON position (as far as you can go without starting the engine).
6. Turn the ignition switch to the OFF position.
7. Turn the ignition switch to the ON position.
8. Turn the ignition switch to the OFF position.
9. Release the power unlock button on the door panel. The vehicle will lock and unlock the doors automatically.
10. Then turn the ignition key on and off to end the programming mode.
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