When viewing an individual record, you can see a set of buttons across the top of the page, including a Link button:
This gives you a quick way to link that record to another record in the system. The options available will be a reflection of the tabs across the bottom of the screen:
Selecting one of the options - in this example Companies - pops open a search screen. Clicking one of the entries will link that to the record you are on:
As you can see, that Company has now been linked to the Activity record:
You can repeat this, linking as many records as required.
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