Doc Yota

I have an 02 LS430 non U/L. When I press the unlock button on my key the drivers door will unlock, no disarm beep is heard and if I open the door the alarm is tripped. If I press the unlock button twice all doors will unlock I will hear this disarm beeps after I press the button the second time and I can then enter the car without the alarm being tripped. In addition, if the car is running and I exit the car the locks will continuously try to unlock until I put the car in drive again. I know there is a way to reset the theft deterrent system on my 99 LS. Is there a way to reset the theft deterrent on the 02 LS? Has anyone else experienced this problem? Please help.

Thanks in advance for any assistance.