Keyless Remote (programming)

I just bought a 2000 Grand Prix. The dealer only gave me one remote and one key. I have 2 remotes from a Chevy Impala same year. Can I use these for this car since they are both a GM product. If so, how do I program them. I have tried the thing with mall pgm and the remotes wouldn't beep. Even the old remote wouldn't beep. Can someone help me out with this one. Thanks