Locate throttle body sensor on hyundai santa fe 2004 2.4L and replacing it

It is located on the throttle body past the air filter. 2 small bolts hold it in place and it has 1 electrical connector. Your ECM (the engine's computer) may need to be reprogrammed after you change this. The dealer can do the ECM programming. There was a Technical Service Bulletin put out by Hyundai.

The part is about $40 and looks like this:
And goes here (this is an Accent but Santa Fe should be similar):

ACEELERATOR PEDAL POSITION SENSOR IS USUALLY BUILT INTO ACCELERATOR PEDAL ASSEMBLY .........LOOK FOR WIRES COMING OUT OF ACCELERSTOR PEDAL ASSEMBLY ON THE INSIDE OF CAR NEAR OR UNDER ACC PEDAL ASSEMBLY

If you have a mass air flow sensor in the big boot from air cleaner housing to throttle body, likely there is no map sensor.

its located on or near the throttle body, simply disconnect the wire harness, remove the sensor and install the new one

Crank Position Sensor ? I guess you don't know what that is !

You already answered your own question,when you pulled
on the gas pedal

on the hyundai the tps rarely fails. so check the pedal sensor on pedal of car. there are 2 sensors on this car, one on side of carburator, and one at accelerater pedal check this one first. the throttle body does not need to be changed to fix the tps. but usually it is located on the throttle body. at the throttle plate.

Yes you can do it yourself. Here is an image showing the location of sensors on your vehicle (TPS) Throttle Position Sensor...located on the throttle body. Should have 2 screws holding it in place. You can view it in Opera and blow the image up or print the image out and blow it up on a copier if you need to. Hope it helps
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Find the Air Intake tube and follow it to the engine. Once at the engine you are at the throttle body, the throttle sensor is mounted to the side of the throttle body on it.

Hi, 
  A sensor like TPS is very easy to change. It is located on the Throttle body. (the part that is at the opposite end of the air intake tube from the air box/ filter) The throttle body looks sort of like a small carburetor, if you look on the side of it you wil see a black sensor.. this is the  TPS. It is usually held on by two or three screws and it will have an electrical plug as well.

I had this same problem with my 05 santa fe. I had to replace the speed sensor. Runs fine now.