Depending on where your wires end up, you can tap the wire at the trunk or the shifter.
On a manual transmission, you'll have to go to the trans. switch though.
Just to be clear, you can tap a 5-speed at the reverse light just like an auto but the actuator switch is on the trans at about the 3 o'clock position. Of course, the OP has an auto because 5-speeds ended in 2000 and he has an '01.
For the auto, you can tap the White-blue wire shown in the attached anywhere along its length that you find convenient. It runs from the shifter and then splits going to both bulbs.