Last update: Jan. 29, 2017
These are instructions on how to jailbreak your iPhone on iOS 10.2 using Yalu and Cydia Impactor for Windows. The Mac tutorial can be found here.
Please note that currently this jailbreak is in beta and currently supports the iPhone 6s, iPhone 6s Plus, iPhone 6, iPhone 6 Plus, iPhone 5S, iPhone SE, iPod touch 6G and iPad Pro. Also supported is a 'bunch' of 64-bit iPad minis. The iPhone 7, iPhone 7 Plus, and iPad Air 2 are NOT supported. Mobile Substrate is working.
Make sure to backup your device using iCloud or iTunes.
Download the latest Yalu jailbreak IPA from here (download BETA3 as of Jan. 29, 2017) and Cydia Impactor from here and save them to a folder on your computer.
Right click the Impactor zip and extract the archive.
Launch Impactor from the extracted folder. DO NOT Run as Administrator.
Click Run if asked to confirm.
Connect your iPhone to your computer via USB making sure to select Trust if prompted on your device and Continue if prompted by iTunes.
Drag and drop the yalu IPA downloaded earlier into the Cydia Impactor app.
You will be asked to enter your Apple ID and password. This is only used to sign the IPA, letting it run on your device.
Cydia Impactor will sign the IPA and install the new Yalu jailbreak app (yalu102) on your device.
Once the app has successfully downloaded to your device you must trust the developer profile created under your email address.
Tap Settings, then General, then Device Management.
Select your email from the Device Management menu
Tap Trust (your email)
Click the Trust button from the popup that appears
Return to the Home screen and launch the Yalu (yalu102) app.
Press the go button in the center of the screen.
Your iPhone will now reboot and you'll have Cydia on your SpringBoard! Congratulations, you're jailbroken! After each restart you will need to relaunch yalu (yalu102) as this is a semi-tethered jailbreak. After relaunching yalu, you'll be able to use Cydia and enjoy your jailbreak.
***A big thanks goes out to the Luca Todesco, Ian Beer, and all the others who had a hand in creating this jailbreak.
Tutorial Credit: iClarified