Here is the method for the 2004 model. I think the 2006 is the same.
Turn the ignition to the "ON" position. Press "SETUP" button. "PRESS RESET FOR SYSTEM CHECK" is displayed. Press "RESET" button.
"OIL LIFE % HOLD RESET NEW" is displayed. Press and hold "RESET" button until "IF NEW OIL HOLD RESET" is displayed. Press and hold
"RESET" button until "OIL LIFE RESET TO 100%" is displayed.
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