Just in case that link goes away, here're the steps.
1: Stop the vehicle and close all the doors
2: Switch the ignition to ON
3: Press and hold the lock side of the driver's side door-lock switch within 10 seconds of switching the ignition ON, a "beep" will be heard about 8 seconds afterwards.
4: Referring to the table, determine the function number for the desired setting and press the unlock side of the door-lock switch in the amount of the selected function number.
Function 1: The auto door-lock is disabled
Function 2: All doors and the liftgate lock automatically when the vehicle speed reaches about 12mph or more
Function 3: All doors and liftgate lock automatically when the vehicle speed reaches about 12mph or more. All the doors and the liftgate will unlock when the ignition is switched from ON to ACC or OFF
Function4: (A/T) only: When the ignition is switched ON and the shift lever is shifted from PARK to any other gear position, all doors and the liftgate lock automatically
Function 5: (A/T) only: When the ignition is switched ON and the shift lever is shifted from PARK to any other gear position, all doors and the liftgate lock automatically. When the shift lever is shifted to PARK while the ignition is ON all doors and the liftgate unlock automatically.