No need to disconnect battery.....
Follow the instructions!
Turn ignition to ON. I don't know if this will be Accessories or full on RUN (without starting) position. It seems to vary.
Step on Accelerator Pedal and push it to the floor for 5 seconds
Turn ignition to OFF, leave key inserted
Release accelerator pedal
Don't do anything for at least 2 minutes. Don't open doors, windows, don't play with any electronics (though, I wouldn't think changing radio stations would affect it).
This sequence resets the transmission control unit (TCU) and forces it to re-learn your driving style.