To find the exact location:
1. Consult your vehicle's repair manual: This is the most reliable source. The manual will have diagrams showing the exact sensor locations for your specific engine.
2. Look under the vehicle: Upstream O2 sensors are typically located in the exhaust manifold or very close to it. Downstream sensors are after the catalytic converter in the exhaust pipe. You'll likely see a wire harness leading to the sensor(s). Be careful when looking underneath — the exhaust system is hot when the engine has been running.
3. Use a parts diagram: Online auto parts stores (like AutoZone, Advance Auto Parts, or Napa Auto Parts) allow you to enter your vehicle's year, make, model, and engine to see parts diagrams. These diagrams will often show the O2 sensor locations.
Without knowing your specific engine size, I cannot give you a precise location. But using the resources above should help you find it. Remember to always let the engine cool completely before working on the exhaust system.