Key programming

When I bought my truck it came with 2 keys. One key worked to unlock and lock the doors and the other did not. I asked the dealer to replace the battery in the dead key but they told me to go to another place to get a key. Ok, whatever. That's the back story.

Now almost 3 years later, I finally got a battery in the dead key. It don't work. It will not do anything to lock or unlock. Is there is a way I can reprogram the key myself? I know the Ford key and dodge keys can be done on your own but that is if you have 2 programed keys and 1 dead key.