[ubuntu] How to run some script during startup

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http://ubuntuforums.org – Hi. I need to launch one script during startup, but don't know what is the exact sequence to get this done like where to copy(rc*.d or /etc/init.d or /etc/init) my script, if needed how to give some special execution permissions etc. I tried copying one small script file with only an echo in /etc/rcS.d and got that print in /var/log/boot.log file. i could not make ,much progress after that. Thanks in advance for any help. (Hardware)