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This can be done anywhere against policemen (and of course against other enemies). After the first few story missions you learn how to do brutal takedowns. At the end of a melee combo you must hold Circle (PS4) / B (XB1) and release it at the right time. You will see a little quick time event with a button prompt. A small circle will fill up and you must release the button at the right time. Then you do a special type of takedown. There should also be an audio cue when you've done it right.

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