The negative cable often connects to a designated ground strap or point near the battery, usually on the firewall or inner fender. Look carefully around the battery tray and nearby areas for a suitable heavy-gauge bolt or stud with a ring terminal already attached or a place to attach one. Your owner's manual should have a diagram of the battery and its cabling.
Connecting to the starter is generally not recommended for the negative cable either, although it might seem logical. The starter itself already has its own ground. Connecting the negative there could lead to unnecessary current flow and potential problems.
In short: Find the designated negative battery cable grounding point on the chassis. This will be a much more reliable and safer connection. If you can't find it, consult a repair manual specific to your 2000 Ford Escape or a qualified mechanic. Improper grounding can cause starting issues, electrical problems, or even damage to your vehicle's electrical system.