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You drop the pan on the bottom of the automatic transmission to change the filter & get out some of the fluid. If this is all new to you get a Bronco II shop manual at an auto parts place.
Great advice from those above, however, If it were mine, I would not just change the filter and trany fluid. I would get the trany flushed. You can get this done at most any oil and lube shop. This would especially be necessary if you have had it stuck, the fluid could be "burnt." Remember that a slipping transmission is nothing to ignore or to belittle. Good Luck.
Don't forget to sniff the old fluid first. If it smells burned you'll not only flush the transmission but you will need a band adjustment. You can do that with a Inch Pound Torque Wrench.
Finally drained the fluid and changed the filter this past weekend. So far not slipping... it's nice to push the gas pedal and actually have it go without racing the engine.
FORD didn't make this easy, did they...
I also replaced all four shocks with Monroe gasmatic's and the ride is less like an old truck.
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