First get some leather gloves and a paper grocery bag (preferred) or trash can and grab carefully all the pieces of the window you can get before they fall in. Then get the shop vac a vacuum the **** out of everything. Vac inside the door good too! You'll prolly benefit from a manual here, as I don't know the specifics of the Taurus door. Run the window down til you can see the mounts for the glass. Usually some kind of metal bracket running up and down on a pole... I used to do glass on the side when unemployed... Shouldn't be too hard. Ususllay in most cars you have to "dip" one or the other of the front or back to get it in the rubber channel properly. Maybe even take off the dew wipe for more room?
Hope this helps, Eric