* You need to know your engine size (e.g., 4.9L, 5.0L, 5.8L, 7.5L). This information is usually found on a sticker in the driver's side door jamb or your vehicle's title.
* Once you know the engine size, consult a repair manual specific to your van's year, make, model, and engine. A repair manual (either physical or digital) will have diagrams showing the exact location of the oxygen sensor(s). They often show multiple sensors for different banks of cylinders in vehicles with more than 4 cylinders.
* Search online using your van's year, make, model, and engine size, along with "oxygen sensor location". You might find images or forums with helpful information.
Without knowing your specific engine, I can't give you a precise location. Improperly locating or replacing an O2 sensor can damage your catalytic converter. A repair manual is the safest and most reliable way to find it.