Depends on the vehicle...some have no serviceable joints. If you're under the car, and you see grease fittings on things like tie rod ends, and ball joints, just take your grease gun in hand and give each one 3 to 5 pumps of the ol' gun, and you're lubed. In reality, the rubber boot under most serviceable fittings will expand a little, and then make a popping noise as excess grease begins to ooze out. It's usual, and that sound and/or seeing excess grease coming out away from the grease fitting are your clues that you have applied enough grease. You'll wanna be systematic about it, looking for each fitting on each side. Vehicles are sometimes asymetric, having one more to one side than the other, but usually involves a steering component, and should be considered "in the center", while the others remain "paired" left and right. Once out from under the vehicle, (or from underneath, if you're able to reach) check the top of each A-arm too (there's an upper and lower on each side) by reaching over/around the top of the front tire, and feeling for a "zerk"/grease fitting there too. These usually point up. Wipe up excess grease and repeat every couple of oil changes. It ain't rocket surgery, so don't be afraid to jump in there.
Ahhh...newbie alert. I just saw your vehicle is designated in your profile. Those Explorers come with sealed joints, which aren't serviceable. Any replacement parts, however, will have grease fittings on them (ball joints and tie rods are likely candidates for a 11 or 12-yo Explorer), so you should still check, unless you're certain there aren't any replacements under there. There are also rumblings on the internet of rubber plugs in the plates that normally top sealed joints. If you have plugs, but no grease fittings, there's a good chance you can install grease fittings by removing the rubber, and screwing in the appropriate grease fitting. All parts houses sell zerks. I've never done this on an auto.
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