Download http://repos.fedorapeople.org/repos/spot/firefox4/fedora-firefox4.repo and place it in /etc/yum.repos.d.
su -c 'wget -P /etc/yum.repos.d/ http://repos.fedorapeople.org/repos/spot/firefox4/fedora-firefox4.repo'
Use PackageKit or run the following command,
su -c 'yum install firefox4'