Thank you everyone! I finally got it working tonight! What I did for the light switch, was pit the system in the 'Start Linking' mode, then held the button on the light switch for a couple of seconds until it beeped. They system then found it and added it!
As for my new motion sensor, I had to add it, by going to the Link Management, then Add a Sensor, then select Motion Sensor II. It added itself then as well.
I appreciate all the people on this forum who help out!