To locate it:
1. Identify Bank 1: Find cylinder #1 (usually towards the front of the engine, often marked on the engine block itself). Bank 2 is the opposite side of the engine.
2. Upstream O2 Sensor (Bank 2): This sensor is located in the exhaust manifold or very close to it on Bank 2. It'll be a threaded sensor, usually with a single wire connector.
3. Downstream O2 Sensor (Bank 2): This sensor is located in the exhaust pipe *after* the catalytic converter on Bank 2. It will also be a threaded sensor, but might have multiple wire connectors.
You will need to look underneath the vehicle to see the exhaust system to locate the sensors accurately. A repair manual specific to your 2002 Dodge Dakota 4.7L engine is the best resource for a precise diagram and location. Online resources like RepairPal or Mitchell1 (subscription required) might also have helpful diagrams. Always be careful when working under a vehicle and use jack stands for safety.