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1. Register on my.zerotier.com and create your network, obtain the Network ID XXXXXXXXX
2. Install zerotier NPK package in RouterOS
3. Enable the default (official) zerotier instance: 

   [normis@Home] /zerotier>enable zt1

4. Add a new network, specifying the network ID you created in the zerotier cloud console: 
   

   [normis@Home] /zerotier/interface> add network=YYYYYYYYY instance=zt1

5. Now you might need to allow connections from the zerotier interface to your router, and optionally, to your other LAN interfaces: 
   

   [normis@Home] /zerotier>ip firewall filter> add action=accept chain=forward in-interface=zerotier1 place-before=0
   [normis@Home] /zerotier>ip firewall filter> add action=accept chain=input in-interface=zerotier1 place-before=0

6. Install a zerotier client in your smartphone or computer, follow the zerotier manual on how to connect to the same network from there. 

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