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Have you looked in the owner's manual? Normally there is a card in there with the code on it. If that's not there you'll have to look on the keyless entry module which is above the left rear wheel.
Inside the back of the Explorer on the left side is the compartment where the jack etc is in. The module is forward of that and hard to see but it's there. Pop the compartment cover off and look with a flashlight. On the module there are 5 big numbers. That should be the code.
Yessss, thank you very much.
I used a tool I had handy at the moment - the lug wrench - and pried between the module and the panel, and was able to see 4 of the digits clearly, and make a good guess at the fifth.
All is well now, and the ignition key can stay in the truck instead of filling my pocket!