Programming a new key, or reprogramming an older one, takes fewer than five minutes for a Ford Taurus.
While sitting the drivers seat, electronically unlock all the doors.
Put the key into the ignition, rapidly turn the key from off to ACC eight times, being careful to end up on the ACC position the last time. (Some older models only require five times.) Leave key in ACC position.
The door locks will pop open by themselves, signifying that the progamming is ready to transfer to the fobs.
Using a fob, electronically lock the car doors. If it locks properly the programming was successful
Repeat with all the available fobs within 20 seconds. When finished turn the car to "off" and the programming will end.