There's no single answer without that information. Coil packs are usually arranged in a specific pattern relative to the engine's cylinder layout. A repair manual specific to your engine is the best resource to find the precise location of each coil. You can also find diagrams online by searching for "[Your Engine Type] 2002 Ford F-150 ignition coil location diagram".
Without the engine type, any answer provided would be unreliable and could lead to incorrect identification.