It's very simple: hit the circle as the storyboard line passes through the center of the note. There are 5 types of notes you will encounter:
Normal: Your regular hit notes. They are red.

Slider: Your regular sliders. They are yellow. Can either be chain notes (quick up and down) or drag notes (zig zag quickly)

Hold: A repeating slider, designated by a storyboard line and the repeat icon. They are blue.

Repeat: Stacked notes on the same spot. Hit the note again as the line passes the storyboarded bar. They are purple.

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