There isn't a single "AC drain" in the traditional sense like a drain pan under a refrigerator. The condensation from your 2001 Chevy S-10's AC system drains through a small hole in the evaporator core housing. This hole is usually located
behind the dashboard, near the firewall, and often directs the water outside the vehicle, onto the ground. You won't easily see it without significant disassembly.
If you're experiencing a problem with water accumulating inside your vehicle, the drain is likely clogged. It's typically not a DIY job unless you're comfortable with automotive HVAC system repair. A clogged drain requires either clearing the blockage (often with compressed air or a specialized tool) or professional repair.