Use only wooden matches or butane lighters. If any other lighting method (paper matches or other lighters) must be used, expect a poor starting flavor; after the first few puffs, this negative side effect should pass.
Turn the cigar in your fingers, with the cigar held down at a 45 degree angle into the flame (or out of, if not using a wooden match or butane lighter), while inhaling in short puffs until the end is evenly cherry-red. You can blow on the end to see how evenly it has been lit.
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