2004 Jeep Wrangler Erasing an error code

Electrical problem
2004 Jeep Wrangler 6 cyl Four Wheel Drive Automatic

My check engine light came on so I took it to the auto parts sore to get the code. I found out it was the throttle positioning sensor, so I changed it. I went back to the store to have them erase the code and was told they can't do it. So I am wondering if there is another way to reset the computer or erase the code.