How do you program replacement remote

I have a 2000rav4 4dr 4wd and 1 remote died.I got the replacement from Toyota but how do you reprogram the remote.Is there a reset button somewhere?.

Thanks

kip

Hello:

Control box was under front seat.Reset button was on side (small hole in case)Turn key to on posistion.press reset button in hole in side of box.press remote button you wish to use within 5 seconds after pressing switch inside of box.Hear 2 clicks.Turn off ignition switch.try it .

Anyway now I have 2 remotes again