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Chances are that everything is not fine. To turn off the light disconnect the battery for 3 minutes re connect it the light should be off. If it comes back on there is a problem. You can go to Auto Zone and they will diagnose the problem for free. The light has to be on for the problem to be analyzed.
See this excellent write-up on toyotanation.com below: http://www.toyotanation.com/forum/t96974.html
It describe in details to program stock or aftermarket replacement remote. It covers all models, so just make sure you know what the FCC # on your remote when you look up this DIY.
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