Naples Florida Kia Owner , Could not find any programming instruction, all forums pretty much say the same thing. There is no on board programming procedure for Kia Soul 2010-2011. This vehicle requires special equipment be connected to the vehicle to program the keyless remote. Please contact your dealer or local automotive locksmith. Good luck.
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http://www.soulhamsters.com/forum/index.php/topic/5291-need-programming-instructions-for-keyless-entry-remote/