Things You’ll Need:

* Keyless remote
* Key

Open the Jeep Grand Cherokee’s driver door. This door must remain open during the entire procedure. Closing this door will cause the remote to not be programmed.
Locate the receiver bulb on the ceiling of the passenger compartment. This is located near the windshield in the middle of the ceiling panel. This bulb receives the signal from the remote.
Place the key in the ignition and turn the ignition switch to the “ON” position. Do not start the vehicle. Starting the vehicle will cause the remotes to not program.
Lock the doors to the Cherokee using the power lock button. Make sure all of the doors lock.
Point the remote at the bulb. Press and hold the “LOCK” button on the remote until the doors unlock.
Turn the vehicle off and remove the key. Test the remote for proper operation.

Did it myself on my JGC 4.7 V8 and it worked 🙂

Credit to Michael Rippetoe