This is how to program your 1998, 1999, 2000, 2001, 2002, 2003 and 2004 Chevy S-10 keyless entry remote fob by yourself at home without going to the dealer.
There is also a free programming tutorial video below to show you how easy it is done.

Obtain all remote transmitters.
Close all doors.
Insert key into ignition, do not turn ignition switch.
Press and hold door lock switch in the unlock position.
Switch ignition ON, OFF, ON, OFF.
Release door lock switch.
Doors will lock and unlock, indicating programming mode activated.
To program remote transmitter proceed as follows:
Simultaneously press and hold transmitter LOCK and UNLOCK buttons.
Doors will lock and unlock, indicating remote transmitter programmed.
Repeat above procedure for each remote transmitter.
Switch ignition ON to exit programming mode.
NOTE: Existing remote transmitter memory positions will be overwritten.
NOTE: A maximum of 4 remote transmitters can be programmed.