A novel soybean variety, designated XBP42002 is provided. Also provided are the seeds of soybean variety XBP42002, cells from soybean variety XBP42002, plants of soybean XBP42002, and plant parts of soybean variety XBP42002. Methods provided include producing a soybean plant by crossing soybean variety XBP42002 with another soybean plant, methods for introgressing a transgenic, mutant trait, and/or native trait into soybean variety XBP42002, methods for producing other soybean varieties or plant parts derived from soybean variety XBP42002. Soybean seed, cells, plants, germplasm, breeding lines, varieties, and plant parts produced by these methods and/or derived from soybean variety XBP42002 are further provided.