As far as I know, there is no magic one-line command. But you can still do it. If there are no foreign keys that reference that column, the easiest is to
ALTER TABLE {mytable} ADD {newcolumn} INT IDENTITY(1,1) NOT NULL;
Copy the values in the PK to the new column.
Drop the old PK column.
Rename the new column to the same name as the dropped column.
If there are foreign keys against the table, it gets a lot more involved.
On 2008 and older, no.