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C-c C-m, or simply C-c RET will give you a prompt that asks you for a LaTeX macro. You can use <TAB> for completion, or the up/down arrow keys (or M-p and M-n) to browse the command history. In many cases, AUCTeX knows which arguments a macro needs and will ask you for that. It even can differentiate between mandatory and optional arguments—for details, see Completion.
An additional help for inserting macros is provided by the possibility to complete macros right in the buffer. With point at the end of a partially written macro, you can complete it by typing M-TAB.
This document was generated by Mosè Giordano on January 10, 2017 using texi2html 1.82.