This is what i posted that works. I put this up for a fellow forum member and it worked for them too. I don't know though if these steps work for non-toyota transponders, hence why i bought Toyota FObs off the bloke on Ebay, anyways, you could give this a try (This is for the FOBS, not the KEY):
Follow this to the 'T' and it should work no problem with the smart fobs to open and close the doors (It looks convoluted, but worked for me on 1st attempt)
Before starting make sure you have no mobile phone in your possession/close by.
1. Sit in the drivers seat - Driver door open, key out of ignition
2. Within 5 seconds, place key in ignition and take it out x 2 (Do not turn key)
3. Within 40 Seconds, close the drivers door and open x 2
4. Put key back in ignition (Do not turn key) and take it out
5. Within 40 Seconds, close the drivers door and open x 2
6. Key back in ignition and leave it in
7. Close drivers door
8. Turn key in ignition (Without starting car)
9. Turn key back and take key out of the ignition
(The door locks should automatically do a cycle - If nothing happens, you've done something wrong and will have to restart the re-programming again from the start)
Once the door locks have did their cycle :
10. Within 40 seconds press lock and unlock buttons on fob together for 2 secoonds
11. Then press lock button on fob for 2 seconds (The door locks should do a cycle again, if they do not complete a cycle, repeat step 10 and 11 again. If the door locks cycle twice, it also means that the re-programming has failed so repeat steps 10 and 11 again)