On a 2001 Chevy Tahoe LS, the catalytic converter is located in the exhaust system,
underneath the vehicle, close to the engine and before the muffler. There's usually one or more depending on emission regulations. To be precise, you'll find it in the exhaust pipe section connecting the manifold to the muffler. Because the exhaust system runs along the bottom of the vehicle, you'll need to get underneath to see it clearly.
Caution: The catalytic converter gets very hot during operation. Allow it to cool completely before attempting to inspect or work on it.