Can anyone tell me how to get the TPMS light to turn off in my Kia Sedona?

[ladybugjinnie]

I had 2 bad tires which made the dash board warning light come on, so I had the tires replaced and the light remained on. I call the Kia dealer to ask, but they want me to bring it in to be checked. Im sure this will be an unneeded expense for my family that we cannot afford.
Can anyone help? Thank you!