I don't know of a program off the top of my head but here's the best tip I can give once you find one:
Use a towel.
Yep, drape a towel over your hands while you are typing. If you forget a key your natural reflex is to look down. When you do so you kill any chance of learning to touch type. If a towel is over your hands it will make you pause and have to remember where the key is.
Sounds silly, but works like a champ.