How to start an application automatically on boot

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http://unix.stackexchange.com – I am new to Linux & looking forward to start application (which toggles a led every 10 sec). I have written the application program & it is working fine but now I want to start it automatically on boot. The documentation here says to copy the startup script to the /etc/init.d directory and make a symbolic link to the copied script in the rc.d directory. What should be the extension and name of these script files? Can we manually add the symbolic link in rc.d or is there some specific procedure for this? Any suggestion how to achieve it? (HowTos)