How do I merge a specific commit from one branch into another in Git?

The git cherry-pick <commit> command allows you to take a single commit (from whatever branch) and, essentially, rebase it in your working branch.

Chapter 5 of the Pro Git book explains it better than I can, complete with diagrams and such. (The chapter on Rebasing is also good reading.)

Lastly, there are some good comments on the cherry-picking vs merging vs rebasing in another SO question.

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