I would normally not consider this to be a howto, but adding a launcher / quickstart to XFCE is really tricky, unless of course you want to do it more or less manually.
Left click on panel > add new item > launcher.
You will now have a properties window. Normally you would have to add Name, Description, Icon, and command manually (what a bitch!).
Open applications menu > Accessories > xfce 4 appfinder, then drag your app of choice to the position just below "New Item" in The properties windows of the launcher. Then click "New Item" and the minus sign to remove it (new item), and voilá, you're done.
I hope the XFCE will make launchers as easy as dragging and dropping from the start meny, just like in gnome, because this way is just freaky
XFCE 4.4 is not out yet, so there is hope i guess.
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