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Opening a bash session in a given container:
docker exec -it <container-name> /bin/bash
In case the image is more bare bones you can still open a shell session:
docker exec -it <container-name> /bin/sh
If you are not sure about the container names you can list them with:
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Create the docker group.
Add your user to the docker group.
sudo usermod -aG docker $USER
Apply the changes to the group.
Verify if you can run docker.