Here are the steps to program the lock and unlock functions on your new car key for

a Toyota Voxy 2006:

Key must be out of the ignition with the driver’s door open and unlocked, all other
doors closed.
Insert the key into the ignition (DO NOT TURN) and take it out. Do this 2 times
(in/out in/out).
Close and open the driver’s door twice, ending in open.
Insert the key into the ignition and take it out, do this once.
Turn the ignition to the on position, then back to the off position, then remove
the key.
The door locks should now cycle automatically, indicating the car is in programming
mode and ready to accept your new remotes1.

Once your car is in programming mode, with the remote you are trying to program
press the unlock and lock buttons simultaneously for about 2 seconds then release
and press just the lock button for 1 second. The locks should cycle once to verify
that the car has accepted your remote1.

Open the driver’s door to exit programming mode. Remove your key from the ignition
and test your remote1. Please note that the remote will not lock or unlock the
doors if any door is open, so make sure to close all doors to test your remote1.

If you want to program the remote to unlock all doors instead of just the driver
side door, hold down both lock & unlock key at the same time for about 6 seconds
and it will toggle the remote to unlock all doors2.