The following procedure worked for me but I had a factory remote from the D that alrerady worked. I used this to program a second remote.
Use the following procedure to program additional key fobs.
1. Enter your vehicle and close all doors.
2. Fasten your seat belt (Fastening the seatbelt will cancel any chiming that may confuse you during this programming procedure).
3. Place the key into the ignition
4. Turn the ignition to the ON position (Do not start the engine)
5. Press and hold the UNLOCK button on the key fob.
6. After holding the UNLOCK button for four seconds, also press the PANIC button within 6 seconds.
7. Release both buttons and a single chim will be heard. The chime is an indication that you have successfully entered program mode. All fobs that are to be programmed must be done so within 30 seconds of when the chime is heard.
8 Using the fob to be programmed, press and release both the LOCK and UNLOCK buttons, simultaneously.
9. A single chime will be heard.
10. Within four seconds of hearing the chime, press and release either the LOCK or UNLOCK button on the fob.
11. Repeat steps 8 threw 10 to program up to two additional fobs.
12. Your vehicle will remain in program mode for up to 30 seconds from when the original chime was heard. After 30 seconds, all programmed fobs function normally.