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Pressing the Esc key switches back to command mode. If you're not sure what mode you're in because you use a really old version of vi that doesn't display an "INSERT" message, type Esc and you'll be sure to return to command mode. It is possible that the system gives a little alert when you are already in command mode when hitting Esc, by beeping or giving a visual bell (a flash on the screen). This is normal behavior.
6.2.3. The easy way
Instead of reading the text, which is quite boring, you can use the vimtutor to learn you first Vim commands. This is a thirty minute tutorial that teaches the most basic Vim functionality in eight easy exercises. While you can't learn everything about vim in just half an hour, the tutor is designed to describe enough of the commands that you will be able to easily use Vim as an all-purpose editor.