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How do I undo the last commit but keep my changes?

Use git reset --soft HEAD~1. This moves HEAD back one commit while keeping all changes staged. You can then edit and re-commit.

$ git reset --soft HEAD~1

What if I already pushed it?

Create a revert commit instead — it's safe for shared branches since it doesn't rewrite history.

$ git revert HEAD
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git commit
git branch
git merge
git rebase
git cherry-pick
git reset
git stash