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Ford Explorer Community - Maintenance - Modifications - Performance Upgrades - Problem Solving - Off-Road - Street
Explorer Forum Covers the Explorer ST, Explorer Sport, Explorer Sport Trac, Lincoln Aviator, Mercury Mountaineer, Mazda Navajo, Ford Ranger, Mazda Pickups, and the Ford Aerostar
There should be an "eye" towards the top of the tube that has a transmission to engine bolt through it. If that "eye" has broken off, you should replace the tube to keep it from coming out again. If the bolt is missing, then you should replace that. As far as getting the tube back in, you'll have to get underneath and "fenagle" it around until you can get it to pop back in. It can be a pain, good luck! And welcome to the forum!
Welcome to the site! You should be able to just push it back in place. There should be an o ring on the bottom to seal it. There also should be a bracket on the dipstick tube that bolts the tube to the engine block. Either the bolt broke/fell out, or the tab that the bolt goes through broke or rusted off.