TCM learning procedure

Automatic Transaxle Fluid (ATF) temperature: 40~100°C (104~212°F)
Static learning
Repeat the below shift pattern four times or more with stepping on the brake.

Fig 1: Shift Lever Pattern
Courtesy of KIA MOTORS AMERICA, INC.
Driving learning
Drive the vehicle from a stop in D through all gears 1st, 2nd, 3rd, 4th, 5th and 6th gear while holding the throttle steady at the specified Throttle Position Sensor (TPS) value (15~25%).