I used to just pry the driver side window until i can get my fingers in there and pull the window out while someone with small hands/arms reach down and unlock the doors. Warning... you risk breaking the glass this way.
Other/Best option is to bring your VIN number, pinkslip, ID to your local dealer and they'll cut you one for like 5 bux and you get the orignal key str8 from the dealers
I locked my keys in my rex once. it was bad. my friend said he could get the car open, and i said "ok, just don't break a window or anything". I went inside for a minute, came out, and there was a pile of glass next to my driver side door. the dumb fucker tried to pry my window down with a screw driver. the dumb bastard. i drove with no window for a month. because i was broke.