There should be a sticker inside the left side cover. If you are not the original owner it may have been removed. I bought my bike used and had to take it to the dealer for a fob and he plugged the bike in and got the factory pin.
The sticker is put on by some dealers (not the factory). Most bikes do not have this sticker.
The Master PIN (randomly assigned at the factory and hardcoded into the VCM) can't be changed or erased. The dealer should provide that to the owner and document it in the owners manual (there is a page for it) and/or written on the 'New Owner Walk-through Checklist' form provided when you pick up the bike.
The Rider PIN is chosen by the owner and manually entered via the turn-signal switch. The dealer should assist in showing how this is done during the walk-through. This PIN can be changed and it is possible for it to be erased when the firmware is updated in the VCM.
If the dealer failed to document the Master/Rider PINs, the only way to get them is to have the dealer hook the bike up to the DigitalWrench computer in the shop.