Under the hood on the driverr side, 2/3 of the way towards the front of the car, there is a reservoir with a many sided nut cap on top. It most probably says ATF fluid on top of it. Look in the owner's manual for steering fluid refill, or something like that, and it will give you a better idea of what for to look.
Someone else asked a question about this and the manual tells you how to refill it.