In the miniprog3 setup dialog you should set the power to 3.3V which will deliver it to your target board.
Thanks for your reply. I think I figured out what's wrong.
I went into Tools -> Options -> Program/Debug -> Port Configuration -> MiniProg3 and
1. Set Clock speed to 24 MHz
2. Power to 3.3V
3. Acquire mode to Power Cycle
4. Connector to 10 pin.
This showed my device in the select debug target window. After that I was able to connect and program the device.