It depends.
Some 2002's used a different bulb. There is a DS1 and a DS2 and I can't remember which is the odd one. Anyway, if you have the correct bulb (the only way to know is to pull yours out and look) then it will be MOSTLY plug and play.
1. You may have to modify the back cover of the S4 housing to accommodate the access of the ballast plug. It's simple if you have a dremel, and not a big deal if you have a drill and a hacksaw. Once the ballast is installed, silicon and exposed areas just to be sure you don't fog up. P.S. you're new lights will fog up. S4 light are prone to this do the o-ring fix, then plan to do it again.
2. You will have to move one wire in one of the sockets of each S4 housing to match the arrangement on your stock xenon. takes 5 minutes. The sockets are the same, and you should take the extra time to mark where the wire came from and where you are putting it, just so that you can switch is back if you need to.
3. High beam bulbs are not the same in S4 as in stock xenon. I believe they use H11 bulb type, but can't remember for sure. Do a search and something will come up.
I started a writeup last year when I did mine, but never finished it. I unfortunately do not have time to finish it now, but hope that this gets you started. I have an 02 as well.
good luck.
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