SEO by Yoast is most downloaded and best free plugin available in the market. Though configuring the plugin could be tricky and in this video you will learn how to setup WordPress SEO by Yoast plugin. This is a detailed video which covers 90% of the SEO by Yoast configuration. I have skipped the configuration part of how to configure the social aspect of this plugin.
Here is a text guide which shows the configuration and you can join the conversation: http://www.shoutmeloud.com/how-to-set-up-yoast-wordpress-seo-plugin-configuration.html
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