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Make sure that your remote is a universal model. Turn on your TV. Change your remote's switch to the "TV" option. Press the MENU button. Select Settings & Help. Select Settings. Select Remote Control. Select Program Remote. Select an item. Follow the on-screen instructions.
Remote model numbers RC-66, RC-65, RC-64, RC-32 (or RC-32RF), RC-24, and RC-23 are all universal remotes. These are usually grey, rectangular remotes. Press the TV's "Power" button, or use the TV's original remote to turn it on. If your DirecTV box isn't hooked up to the TV or a power source, make sure that it's plugged in as well. On most DirecTV remotes, you'll find a switch near the top; push this switch over so that it sits next to the "TV" label. If you want to program your remote for a component other than your TV, change the switch to one of the "AV" positions instead. For most remotes, you'll find this button near the top of the remote. You should see a menu pop up on your TV. Use the arrows on the remote to highlight this option, then press SELECT in the middle of the remote to select it. It should be in the middle of the screen. For an SD receiver or DVR, select System Setup here. Doing so will open the Remote Control menu. Select Remote or Remote Control for an SD receiver or DVR. This will open the programming menu, which should list each component (TV, audio, DVD, etc.) item that you have available for programming. You'll usually select the TV option here, but if you want to set up your TV's audio component or a DVD player, select the appropriate option instead. These instructions will vary depending on your available components. Once you've finished the on-screen setup, your remote should be programmed for your TV or component.