Without Consult-II
WARNING: This page is about a different car, the 2005 Nissan Xterra. However, it is still accessible from the selected car via links, so may be relevant.
Set the steering wheel in a straight forward position and drive the vehicle at 10 mph (15 km/h) or more for 10 minutes. When the procedure is complete, the SLIP indicator lamp and VDC OFF indicator lamp will turn off.