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After much experimentation, I found a procedure that worked and would like to share it:
1) Get in and close all doors.
2) Turn on the ingition and turn off quickly.
3) Remove the 1st key (do not keep it in the ignition as someone suggested).
4) Hold the key up near your left shoulder (this is so it is closer to the remote reciever antenna - someone else suggested this as well)
5) Hold down the unlock button (which is button 1 on my key) and press the lock button 3 times (center button on my key). Release the unlock button and the doors lock which confirms the operation.
6) Quickly repeat steps 4 & 5 for key #2 etc.