GMC Yukon Denali 2003 Owner's Manual page 154

Setting Cruise Control
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CAUTION:
If you leave your cruise control on when you're
not using cruise, you might hit a button and go
into cruise when you don't want to. You could
be startled and even lose control. Keep the
cruise control switch off until you want to use
cruise control.
1. Move the cruise control switch to on.
2. Get up to the speed you want.
3. Press in the set button at the end of the lever and
release it.
4. Take your foot off the accelerator pedal.
3-12
The cruise symbol on the
instrument panel will
illuminate when the cruise
control is engaged.
Resuming a Set Speed
Suppose you set your cruise control at a desired speed
and then you apply the brake. This, of course,
disengages the cruise control. But you don't need to
reset it.
Once you're going about 25 mph (40 km/h) or more, you
can move the cruise control switch briefly from on to
resume/accelerate.
You'll go right back up to your chosen speed and stay
there.
If you hold the switch at resume/accelerate the vehicle
will keep going faster until you release the switch or
apply the brake. So unless you want to go faster, don't
hold the switch at resume/accelerate.