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Do you have a shortcut on your active desktop? If so, you can just drag the Ff icon to your quick launch bar. If you do not have one, you can use Windows Explorer to find Mozilla Firefox in your programs folder. Expanding the folder will show you the "Firefox.exe" file with the well-known icon; dragging this file to your quick launch bar will set up a icon/shortcut to Ff.
Whereof one cannot speak, thereof one should be silent.
Make sure the Quick Launch bar is enabled. Right-click on the taskbar, go to toolbars and click "Quick Launch". This will enable the quick launch bar right next to the start button. You can now drag shortcuts to the quick launch bar. (make sure you don't drop the shortcut onto an existing icon or it won't work, rather it'll only launch the program you dropped it on)
If you need to make the quick launch bar wider, right click the task bar and ensure that the "Lock the task bar" is not checked. Then drag the right border of the quick launch bar (made visible when you unlocked the taskbar) to the appropriate position.
You can remove icons from the quicklaunch bar by right clicking on them and selecting delete.