Late models (96 and newer), you have to point the key fob at the car, hold down both buttons on the remote until you hear the horn beep twice. That should do it.
On earlier models, you have to disconnect the battery for 15 seconds. After reconnecting the battery, disarm the alarm with the fob, then rearm for 60 seconds, then disarm again. Then try to start.
This all relies on you having the key fob.