1)Confirm that all doors are closed and ignition mode of keyless push start system is in “OFF”.
2)Open driver side door.
3)Perform the following Steps a) to c) within 15 seconds after changing ignition mode to “ON”.
a)Press driver side door switch within 5 seconds after changing ignition mode to “ON”. Keep pressing driver side door switch for 2 seconds.
b)Release driver side door switch and then press driver side door switch for 2 seconds or more.
c)Release driver side door switch and then press driver side door switch for 2 – 5 seconds.
4)Using recommended tool (“VT55” made by ATEQ) (1), activate each tire pressure sensor within 180 seconds.
Refer to instruction of recommended tool for method of activating tire pressure sensor.
5)Push engine switch to change ignition mode to “OFF” after registration is completed.

Found it here - http://www.suzuki-forums.com/suzuki-kizashi/44832-tpms-learn-mode.html