It's in the owner's manual...
To program the Park Unlock mode:
Unlocks the driver’s door or all doors and tailgate when the shift lever is moved into the Park (P) position.
1. Make sure the shift lever is in the Park (P) position.
2. Turn the ignition switch to the ON (II) position, and make sure to close the driver’s door.
3. Push and hold the rear of the master door lock switch on the driver’s door. You will hear a click. Continue to hold down the switch:
Until you hear another click (after about 5 seconds) to activate driver’s door unlock feature.
Or, until you hear two more clicks (after about 10 seconds) to activate all doors and tailgate unlock feature.
4. Release the switch, and within 5 seconds, turn the ignition switch to the LOCK (0) position.