You can program your 2007, 2008, 2009, and 2010 GMC Yukon Denali remote yourself at home with these simple instructions.
There is also a free programming tutorial video below to show you how easy it is done.

Switch ignition ON.
Press vehicle information button Fig. 2 [A] until PRESS TO RELEARN REMOTE KEY is displayed.
Press set/reset button Fig. 2 [B] until REMOTE KEY LEARNING ACTIVE is displayed.
Programming mode activated, proceed as follows:
Press and hold LOCK and UNLOCK buttons on first remote transmitter simultaneously for 15 seconds.
Wait for acoustic signal (indicates correct programming).
Repeat above procedure to program remaining remote transmitters.
Switch ignition OFF to exit programming mode.
Remote transmitters can also be programmed using diagnostic equipment.
NOTE: A maximum of 8 remote transmitters can be programmed.