On the 2010 or 2006?
2010 there's a bunch of sensors on dpf and by exhaust valve. FYI, have you tried clearing the code and seeing if it comes back?
On the dpf the 02 sensor is the one on the top right sticking out at an angle. There's either one immediately after the DPF paired with a temp sensor or one at the exhaust valve. One of those is probably sensor 2. This is just a guess so if you find out please share!