My passenger side axle came out of the little cup thing that is inside the transmission ?

Did you put coffee in ur little cup

What car? Some are bolted in, some have a retaining clip and some simply slip in place and are held there by the suspension. Look at it and see if the end is broken. Maybe "the little cup thing" you mention is part of the inner CV joint or it's the "tulip"and it is broken. That must be replaced with a new axle. My neighbor's old Lexus did that.

If nobody had been messing with the axle before that happened the axle must be removed and checked for damage. The transmission oil seal where the axle goes into the tranny is likely ripped up and needs replacing. The transmission flange needs inspecting to make sure it's not worn out of round too.

If you tried to replace the axle yourself you didn't seat the spring clip into the tranny flange all the way. To do that you need to put the axle nut on the outer CV joint, push the axle in firmly and wack the outer axle nut with a 4 lb. hammer to drive the inner slide joint in until it clicks.

no you probably will need to replace the axle. find local shop at ATRA.COM for estimate to repair

Get the vehicle towed to a garage. it will save you a lot of time.

There is a ring in the end of the axle which catches in a groove in the transmission. If the ring is there and you start the axle in straight you should be able to knock it in. When it is in it resists coming out. You would need a lever to pop it out, so you would know. It is possible for the ring clip to break or lose its tension. Usually, you can get them to work.

called a half shaft & they are fairly easy for a pro to fix, which obviously you are not ....................