I found this generic article. One of them should work for the GP
When no other working key for the car is available:
Type A 1. Put the newly cut Master key into the keyway and turn it to the ON (RUN) position. A "security" indicator
light on the dashboard will stay on for 10 minutes.
2. Within 1 minute after the indicator light goes off, turn the ignition to "OFF", then return to the ON (RUN)
position. The indicator light again will stay on for 10 minutes (Do not remove the key.)
3. Again, within 1 minute after the indicator light goes off, turn the ignition to "OFF", then return to the ON
(RUN) position. The indicator light again will stay on for 10 minutes. (Do not remove the key.)
4. When the light goes off the third time, the new key is programmed into the computer and will start
the car. Remove the key and then re-insert it into the ignition lock and start the car.
All previously stored codes will be erased. To stop the process at any time, simply remove the key and use
an existing key to start the car.
For Cars where you want to just create a spare key:
1. Place an already programmed key in the keyway
2. Cycle the ignition from OFF to ON (RUN) to OFF.
3. Within 15 seconds, insert the new, properly cut Transponder key in the ignition. Turn the key to ON
(RUN) or START. The "security" indicator light will go on and off. Turn the key "OFF".
4. The car will now start the car
5. Repeat the second step for each new key to be programmed.
Programming Method Type B
To originate a new key:
Type B 1. Insert new key into ignition cylinder and turn it to the ON (RUN) position. The "security" light on the
dashboard will flash for 15 minutes.
2. When security light stops flashing, you have five minutes to start the next step. Turn the ignition cylinder
to the OFF then back to the ON position. The security light on the dash will flash for 15 more minutes.
3. When the security light stops flashing you have five minutes to start the next step. Turn the ignition
cylinder to OFF and then back to the ON position. The security light on the dash will flash for 15 more
minutes.
4. After the security light stops flashing for the third time, the new key has been programmed into the
vehicle's computer and will operate the car. It has replaced all the previous electronic key codes and is the
ONLY key programmed into the vehicle's computer.
Add Duplicate Key:
1. Insert an existing key into the ignition cylinder. Turn it to the ON (RUN) position and then back to the
OFF position.
2. Within 15 seconds remove the existing key, insert the new key and turn it to ON.
3. The security light will light up for two seconds to indicate successful programming of the key into the
vehicle.
Programming Method Type C
Originate New Master Key:
Type C 1. This requires that the vehicle be connected to special dealer equipment. There are two ten minute
delays involve while this device erases all existing key programming and sets up the vehicle computer
to accept new key codes. Two new keys should be ready because the system requires a minimum of two
keys in the program. After the first two keys are programmed, additional keys can be entered individually
by following the instructions for adding duplicate keys.
Add Duplicate Key (Requires two existing keys)
1. Insert an existing key and turn the ignition cylinder to ON (RUN) and then back to OFF.
2. Within five seconds remove the existing key, insert another existing key and turn it to the ON position
and then back to OFF.
3. Within ten seconds insert the new key and turn to the ON position. Leave it ON for one second and then
back to OFF.
4. The security light will light up for three seconds to indicate that the new key has been successfully
programmed.
Programming Method Type E
The Toyota Electronic Control Module does not have programming modes without a pre-programmed key.
If there is no key available that is already programmed into the module, the module must be replaced.
To delete all but one key from the unit:
Type E 1. Simultaneously depress and release brake and accelerator pedals 1 time.
2. Insert existing master key into ignition. Do not turn the key from the OFF (LOCK) position.
3. Within 15 seconds of inserting the key, depress and release the accelerator pedal six times.
4. Within 10 seconds of completing the above step, depress and release the accelerator pedal seven times.
5. The security light will flash, indication all keys other than the one being used have been deleted.
6. Remove the key from the ignition cylinder within ten seconds. It will be the only key still programmed to work
Add Duplicate Key:
1. Simultaneously depress and release brake and accelerator pedals 1 time.
2. Insert existing master key into ignition. Do not turn the key from the OFF (LOCK) position.
3. Within 15 seconds of inserting the key, depress and release the accelerator pedal five times.
4. Within 20 seconds of completing the above step, depress and release the brake pedal six times and
remove the key.
5. Within 10 seconds, insert the new key into the ignition.
6. Within 10 seconds, depress and release the accelerator pedal one time.
7. After 80 seconds the new key is registered and the security light will go off.
8. Remove new key and depress and release the brake pedal 1 time.
Programming Method Type F
Originate New Master Key:
Type F 1. This requires that vehicle to be connected to special dealer diagnostic equipment.
Add Duplicate Key (Requires two existing keys)
1. Insert one of the two existing keys into the ignition lock and turn to the ON (RUN) position.
2. After the key has been in the ON position for at least five seconds but not more than 15 seconds turn
the lock back to OFF
3. Remove the key and insert the second existing key and turn to the ON position within 15 seconds.
4. A theft alarm light should illuminate after the seconds and a single chime sound will indicate entry into the
"Customer Programming Mode."
5. Turn the key to the OFF position within 60 seconds and remove the valid key.
6. Insert a new key and turn it to the ON position.
7. After approximately ten seconds, a single chime will sound and the theft alarm light will stop. Wait five
seconds and turn the key to the OFF position.
8. The above steps must be repeated for additional keys.