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I've had to google it every time as I can't remember. Something like, disconnect [both battery] cable, touch both cable ends [together for 30 seconds] (discharge capacitors or something), reconnect, turn ignition on but don't start, lights on, lights off, ignition off, done. Or is that just some internet joke for newbies. I'll check the FSM later.
Edit: FSM says to use the OBD diagnostic tool to clear error codes and I couldn't find a general reset procedure.
Here is link to jeep forum with procedure I referenced above [as edited]. Some there say that disconnecting for 30 minutes or so will do it. But I seem to recall that with my son's 97, disconnecting alone did not clear the code. I've used above procedure with my 98.
Further edit: Procedure above supposedly resets PCM to factory original settings.