How can i get air out of the power steering system?

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I replaced the power steering pump and filled the resevoir with the recommended atf, have the front of car off the ground, turned the steering wheel lock to lock until fluid level maintaned, the started the car and turned the wheel lock to lock several times then foaming power steering fluid started coming out of the vent hole in the resevior cap. I repeated the above several times with the same result.