Now when the battery is reconnected, security alarm goes off and anti-theft will not allow me to crank my car. What do i do??? Very frustrated. HELP ME PLEASE!!

My sister in law has a 99 Avalon, and I asked around to learn what she would have to do (or what I would have to do for her) in the situation of having lost the keyless entry remote. It seemed the car would have to be taken to a Toyota dealer (towed) for them to provide a new key and remote. And they would need the registration to establish you were the owner. At the time they said the new key would cost $150, I dont know if that included a remote also.
But if you dont use the remote to 'arm' the security system, just using the key to lock the doors, the remote can be left at home - like she does - and the key will unlock the doors and start the car. They key has a tiny antenna in it, and a chip, so the car can recognize your key.
At least that is how it works on her 99. I have searched the internet & the service manual, but have found no way to bypass the security system. If there is one I would like to know it.