I googled this, and came up with the following website:
Infinity Key Fob Reprogram
I was pushing and pulling the key in and out as fast as I could. I took it easy, and just pulled it in at out at as constant of a pace as I could, and sure enough, everything else worked the way it was supposed to. I programmed two fobs this way. Something that was interesting though, is when I hit the button for the second fob, no lights or anything came on. It seemed like nothing happened, but when I got out, and tried the buttons, they opened the doors and everything.
It seems like its kind of picky, but if you're constant and you make sure the key comes out every time all the way, it works. Anyway... I just thought I'd post this up incase anybody else had a similar problem.