Nissan truck ECU reset

I've read posts on this board that tell how to check error codes and reset various car ECU's (such as Sentra and 200sx). Are the procedures similar for doing the same with a 1996 Hardbody?

My check engine light turned on, and Emissions Testing reported an error code that my O2 sensor was malfunctioning. I replaced it myself and the CEL turned off the next day. But Emissions still finds an error code. I need to reset my ECU to turn off the error code so I can pass Emissions and get my license tabs.

Thanks,
Crooper