If you have a 2002 Jaguar S Type, checking the transmission fluid is a pretty simple process. All you need is a clean, lint-free cloth and a funnel. First, locate the dipstick on the side of the transmission. It should have a yellow handle and be clearly labeled Transmission Fluid.
Next, pull out the dipstick and wipe it clean with your cloth. Then reinsert it all the way back into the tube. Be sure not to touch anything else while it's in there! Finally, remove the dipstick again and check where the fluid level falls on the stick. The ideal level should be right in between the two hash marks on the stick.
If it's too low, add some more transmission fluid until it reaches that level. If it's too high, you'll need to drain some out using a suction pump (available at any auto parts store). Once you've got it at the proper level, replace the dipstick and you're good to go!