Of all the vehicles I've owned with FOBs, my Hyundai is the only one I've never been able to locate a DIY FOB programming procedure for. Luckily I don't need to at this time for my 2008 GLS AWD, but you never know. As far as I know, Hyundai dealers are the only ones with the magical procedure and/or hardware to do it and I'm sure it ain't cheap unless you lump it in with other services.
Joel
Joel