On my early (2003) B6 S4 it was just a case of plugging in the bulb and running the wire from one side to the other.
But on my later (2005) B6 S4 Audi had changed the bulb holder (so there was no holder for the fog light bulb) and the lens (so there was no hole for the bulb to go through).
Worth checking which of those build states your car has...
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