Reprogram a Volkswagen key fob with only 1 key?

I bought a 2015 Volkswagen Passat, it came with 2 key fobs and 3 keys. Upon careful inspection, (months later) I noticed one of the key fobs doesn’t work with this car, and 2 of the 3 keys don’t work; they are cut completely different. I was reading online, an article describing that the key fob could be reprogrammed to my specific vehicle, but it involves the use of 2 keys, and I only have one.

Is there a way to reprogram my 2nd fob with only 1 key?