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DMoore is spot on about using the 3-way occupancy sensor, but off a bit about needing to replace both switches with occupancy sensors. The occupancy sensor installation instructions should show how to connect the device to a 3-way circuit, without replacing the other switch. Here is an example wiring diagram from the Lutron Maestro Occupancy Sensing ...

Wouldn't it be easier to just replace it with a 3-way occupancy switch You can take out one of the switches but this would keep you from having to cap a box or redoing your wiring and give future flexibility. So you will need 2 3-way occupancy switches since if you just replaced one you could possibly be turning it off.