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Click Applications on the panel and you see categories of applications and system tools that you can select. Click the application that you want to launch. To add an item from a menu so that it can launch from the panel, drag and drop the item that you want to the panel.

You can add items to your GNOME 2 menus. To do that, right-click any of the menu names and select Edit Menus. The window that appears lets you add or delete menus associated with the Applications and System menus. You can also add items to launch from those menus by selecting New Item and typing the name, command, and comment for the item.