Press the [AF-DRIVE] button and select the self-timer mode. Point the remote controller toward the camera and press the button.
Full details are in the "Remote Control Shooting" section of the camera manual (page 102 in my copy). If you need a manual, you can download one at
http://gdlp01.c-wss.com/gds/0/0300004270/01/eos5dmkii-im4-en.pdf
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