Is your engine long to warm up? If so your thermostat is defective. Replacing it should fix your heating problem.
Also, with car idling at normal operating temperature and heat set on high, feel the two heater hoses in the engine compartment (they're connected to the heater core inlet and outlet on the firewall); they both should be very hot; if one is cold or lukewarm, your heater core is probably clogged.
You could also have a problem with your blend door or blend door actuator; it is a common problem with Taurus.
Here is a link to a website that will tell you all about it:
http://www.heatertreater.net/Ford%20Taurus%2096-07.htm
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