The transmission fluid fill location on a 2001 Chevy Impala depends on whether it has a 3.4L or a 3.8L engine. There isn't a dipstick to check the level like in older cars.
You should consult your owner's manual for the precise location and procedure. Improperly filling the transmission can cause serious damage.
Generally, the fill is done through the top of the transmission itself. You'll likely need a special tool or adapter and possibly a pump to add fluid. Trying to find it without the manual or a repair guide could lead to adding fluid to the wrong place.