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Update the apt package index and install packages to allow apt to use a repository over HTTPS:

sudo apt-get update && \
    sudo apt-get install \
    ca-certificates \
    curl \
    gnupg \
    lsb-release -y

Add Docker’s official GPG key and Use the following command to set up the stable repository

curl -fsSL https://download.docker.com/linux/ubuntu/gpg | sudo gpg --dearmor -o /usr/share/keyrings/docker-archive-keyring.gpg

echo \
  "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/docker-archive-keyring.gpg] https://download.docker.com/linux/ubuntu \
  $(lsb_release -cs) stable" | sudo tee /etc/apt/sources.list.d/docker.list > /dev/null

Install Docker Engine

sudo apt-get update && sudo apt-get install docker-ce docker-ce-cli containerd.io -y

Test installation by running hello-world container

sudo docker run hello-world

Adding ubuntu user to the "docker" group

For AWS use below command

sudo usermod -a -G docker ubuntu

For Azure use below command

sudo usermod -a -G docker azureuser

Restart Ubuntu VM

sudo reboot

SSH to VM and Test installation by running hello-world container without sudo

docker run hello-world