Raise the front of your car until the wheels are off the ground. Turn your steering wheel back and forth and keep adding ATF as the fluid goes down in the canister. Do NOT run your engine or the fluid will foam up.
Once you quit seeing air bubbles in the fluid, turn your steering wheel full lock in both directions which should produce a few more bubble. Fill to the line on your canister housing only when you're sure all of the air has been purged out. This method is, by far, the best way to do this.