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The 2004 Ford Taurus did not come with an auxiliary port in its audio system. However, there are aftermarket radios available that can be seamlessly installed in place of the original radio. To remove the old radio, you will need a Ford radio removal tool that fits into the four holes on the face of the factory radio. By using the tool to release the internal clips, you can slide out the old radio. You can buy a replacement radio with an AUX port for anywhere between $75 to $400, depending on the features you want. Professional installation could cost a couple of hundred dollars as well.
While the 2004 Ford Taurus radio can connect to an auxiliary input port, it does not have an auxiliary input jack built in.