Once I knew where to look for it, finding it was simple.
On my 2015 Ford Explorer Sport, the factory code was located above the parking brake, behind a cover, right below the fuse panel. The cover has access holes, so with a flashlight and a little wriggling I was able to read it.
Next was setting a code I would actually remember. Enter the factory code, press 1*2, then enter a new five-digit code. Wait a few seconds, the locks cycle. Then enter the new code to test it, and listen for the locks to click.
And that's it. This forum saved me $30, or whatever fee the dealership would have charged to do the same.
I wish my vehicle had memory seats. My wife and I are a foot apart on height, so we're constantly moving the driver's seat around when we switch driving.
Our previous "family sized" vehicle made by a different manufacturer had seat memory, but then it also had a transmission that liked to fail regularly
I guess this is a fair tradeoff.