1996 Pontiac Grand Prix SE Security warning light won't stop flashing

Over the past couple of months, occasionally the ignition key would not come out of the ignition without starting the engine and shutting it off a couple of times, accompanied by pressing on the brake and moving the console automatic shift through the gears a couple of times. Now the car’s security warning light comes on and stays on. The car will start if we bypass the security with the ignition on run and a screwdriver on the solenoid and starter, but dies immediately due to the anti-theft fuel delivery shutting off. How do I reset the damn annoying computer without having to tow into the dealer?