I have a used keypad form a friend that I wanted to put on my Taurus -2004. Does anyone know how to program these?

Just replace the old one with the used one, you should be all set, providing you know your factory code.

This would be new addition. How is is programmed for my car?

You will need the RAP module and all associated wiring. Not a trivial project.

-Rod

Probably never get it to work correctly, gotta be some serious parts to make it go,, two of my Taurus have it, it's great when it all works..