If the passenger side locks and the driver's side doesn't, it's the door lock solenoid. I've replaced either 3 or 4 of these (I've lost count), one of them on my Taurus SHO (RIP). To replace the door lock solenoid you've got to remove the door panel and drill out the rivet that holds the solenoid in place. It's more tedious than it is hard.
On a side note, there's a rubber sheath that protects the solenoid mechanism from water and dirt. The one on the SHO was rotted almost completely away, so that when it rained and then later froze, the door lock became inoperable. A new lock, with a new rubber sheath, cured that issue right away.
If neither of the door locks work, it's probably the switch. They tend to get corroded and fail. You might brush it lightly with some muriatic acid and wash that off immediately (believe it or not it worked for me on the SHO) or get some color TV tuner cleaner at Radio Shack and try that (mixed results). Or break down and buy a new one for about $50.