Because there are slight variations depending on engine (4.0L OHV, for example, vs. a V6), the best approach is to:
1. Consult a repair manual specific to your 1996 Ford Explorer's engine. A Haynes or Chilton manual will have diagrams and clear instructions.
2. Use an online parts diagram. Websites selling auto parts (like AutoZone, Advance Auto Parts, etc.) often have diagrams you can browse by selecting your year, make, model, and engine. These diagrams usually clearly show the location of the IAC valve.
Looking at pictures online of a 1996 Ford Explorer's throttle body will also help you visualize where it's located. Just search for "1996 Ford Explorer throttle body" on Google Images. The IAC valve will be very noticeable once you see a picture of the throttle body.