WARNING: This page is about a different car, the 2003 Saturn LW300 and 2003 Saturn L300. However, it is still accessible from the selected car via links, so may be relevant.
Fig 1: DTC P1526: TP Sensor Learn Not Done After Reprogramming (Steps 1-6)
Courtesy of GENERAL MOTORS CORP.
Fig 2: DTC P1526: TP Sensor Learn Not Done After Reprogramming (Steps 7-15)