Where is bank1 sensor 1 located on 2002 ford f-150 4.2 liter engine?

On a 2002 Ford F-150 with a 4.2L engine, Bank 1 Sensor 1 (O2 sensor) is located on the exhaust manifold, before the catalytic converter, on the passenger side of the engine. Bank 1 is always the side of the engine that contains cylinder #1.