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Yes, there is Internet Explorer on Windows 10 and also another browser named Edge. Edge is the default browser. If you want to open Internet Explorer, you have to search it. Click the Magnifier or search button next to Start menu and type Internet Explorer. You will see the app in the results. You can open it from there.
To add it to Start menu, right click on it and select Pin to Start
If you have any questions or would like any additional information, please don't hesitate to ask.