Will 1996 Chevy s10 transmission fit in a 2002 s10?

No, a 1996 Chevy S10 transmission will likely not fit directly into a 2002 Chevy S10. While they are both S10s, there were changes made to the drivetrain and transmission over those years. The bolt patterns, bellhousing, and even the overall transmission design might be different enough to prevent a direct swap. You would likely encounter incompatibility issues with the engine, driveshaft, and possibly the crossmember.