Programming remote on 2001 LHS

We just acquired a 2001 LHS and I cannot figure out how to program the only remote (FOB) that we received with the car. It was rarely used by the original owner, and the battery was long dead. I replaced the battery in the FOB, but cannot seem to find anything in the owner's manual to help with this. The Homelink for the garage door was a piece of cake, but this seems to be a problem. I haven't seen a thread exactly on point for a 2001 model here, but I have seen that a 1999 model got advice that only a dealership would have this ability. Does the same apply to a 2001 model?

Thanks for any help you can provide.