It is in different places on each engine affiliation for your year of car each is in the engine compartment on the intake manifold. Hyundai as a car manufacturer put a lot of free technical information and workshop manuals on line for Hyundai owners. Check out www.hmaservice.com lots of great information.
I'll answer even though this is an old question. I replaced my purge control valve on 2003 Santa Fe. Disconnect the battery. Remove the plastic engine cover. The valve is against the rear wall about 12" to the left of center. Disconnect the electrical connection and the hose on the left. The hose on the right may be difficult to access where it meets the valve, so you can disconnect that hose at it's other end about 8" to the right. Use that hose to pull the valve out of it's location. Install the new valve onto that hose and use the hose as a handle to get the new valve back into position. You can then re-connect the electrical and the hose on the left. Took me one hour, an amateur.