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By using least squares which minimizes the sum of squared errors.
Let $$y_i = \hat{\beta_0} + \hat{\beta_1}x_i$$ be the prediction for Y based on the ith value of X. Then $$e_i = y_i - \hat{y_i}$$ represents the ith residual, This is the difference between the ith observed response value and the ith response value that is predicted by our linear model. We define the residual sum of squares (RSS) as