Transponder Key

Hello, I want to get the on-board programming directions for making a duplicate ignition key. I have the key blank bought on e-bay, and I've had it cut. Also, I of course have the original working key, just need on-board programming instructions to duplicate it. I know others have done this themselves without having to pay over $100 at the dealer. I have heard the procedure has something to do with stepping on the pedals in a certain sequence.