it depends. if you are only changing the pan and filter it takes about 4-5qts. if you are draining the torque converter also it will probably be about 13-16qts for a total refill. you can only drain torque converter with the help of a transmission flush machine.
Be sure to review the Owners Manual for information specific to the year of production for your Taurus.
See "Related Questions" below for more
The 2002 Ford Taurus Owner Guide shows : Motorcraft MERCON-V automatic transmission fluid
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Near the firewall , where the transmission ( transaxle ) is bolted to the engine
In a 2002 Ford Taurus the type of automatic transmission fluid to use is indicated on the automatic transmission fluid dipstick or the dipstick handle
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According to the 2002 Ford Taurus Owner Guide : ( Motorcraft MERCON automatic transmission fluid is used as the power steering fluid )
Total capacity is about nine quarts.