Try turnig the ignition switch to "on" position without starting engine and depress accelerator 6 times to the floor
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I believe you turn the ignition on, press the gas pedal to the floor three times, watch light flash five times and it's reset.
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You should change the transmission fluid and filter on a 2000 GMC Yukon every 5,000 to 6,000 miles. It does not need changes more frequently than that.
To reset the GM Oil Life System after an oil change: 1. Turn the ignition to ON, with the engine off. 2. Fully press and release the accelerator pedal three times within five seconds. 3. If the CHANGE ENGINE OIL light message flashes, the system is reset. However, if it stays on, it did not reset. You'll need to refer to the vehicle's owners manual or your local GM dealership.
If your truck has the DIC (Driver information Center) Make sure the truck is in PARK. Change to the display "Oil Life Remaining" Press and hold the SET/RESET button on the DIC for 5 seconds. If you don't have the DIC the make sure the truck is in PARK and press the trip odometer reset stem for MORE THAN 5 SECONDS. The oil life will change to 100%.