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How to find TDC on a Ford 3.9L V6?

I need to replace the cam synchronizer on my 2004 Ford Freestar with the 3.9 Liter V6 motor. (I have the dreaded “squeal then stall” symptom). The manual starts out by saying you MUST have the engine such that cylinder one has the piston positioned at TDC (top dead center). However, the manual does not state how to do that, or how you can tell it is at top dead center (or even which cylinder is cylinder one!). Can someone tell me how to do this? Thanks!