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YOu can use the instructions below and will never know the difference Vs using a scanner (I've done it a few times when a scanner was not available). I copied and pasted so I don't have to type...
Start fresh by disconnecting your negative battery cable for a minute or so. Reconnect and-
The Idle relearn is done by starting your car, and leaving it idle until the fans turns on, and turns off. After that first *cycle*, turn the car off and let it sit for about 5 minutes. Start the car again, and let it go through another *cycle*, turn the car off again.Now you should have done 2 full fan cycles and the ECM should have relearned the idle. Start your car again and it's done.You need to do an Idle relearn anytime you disconnect the battery (lose power to computer).
Remember don't press the gas during this time, allow it to idle on it's own.