Does anyone know the procedure for reprograming a keyless entry remote for a 1997 ES300?

Also, I recently acquired 2 remotes, one of the ID #'s matches my original remote but the other does not. I was told they both were used on an ES300. Does the ID # on the back of the remote corrospond to the model, year, both or neither? Will I be able to use them both?

The ID #'s are:

1. HYQ1512P, CANADA 1551 102 199, DENSO (Matches mine)

2. HYQWDT-C, CANADA 1551 K1420, CANADA 210

Any help will be appreciated.

Thanks,
John