FORD 2002 F-150 v.3 - Manual (Page 179)

Do not park your vehicle in Neutral, it may move unexpectedly
and injure someone. Use 1 (First) gear and set the parking brake
fully.
Reverse
Make sure that your vehicle is at a complete stop before you shift into R
(Reverse). Failure to do so may damage the transmission.
Put the gearshift in N (Neutral) and
wait at least three seconds before
shifting into R (Reverse).
You can shift into R (Reverse) only
by moving the gearshift lever from
left of 3 (Third) and 4 (Fourth)
gears before you shift into R
(Reverse). This is a special lockout
feature that protects you from
accidentally shifting into R
(Reverse) when you downshift
from
D (Overdrive).
1 3
2 4 R
D
Driving
179