With the help of sudo command we allow normal user to performe as root user privileges .Means normal user can perform operation which is only permitted to root user only.Below is step by step process to add user in sudo privilege.

1.Login to server using root user

2.Add the user with following command

useradd username

3.Create password for the username

passwd username

4.Now add this user to wheel group which allow it access sudo privileges

gpasswd -a username wheel
usermod -G wheel username

Now you can access the sudo privilleges login with new the user with following command and access the sudo

su - username
sudo cd /root

To remove user from sudo privillege simply remove it from wheel group

gpasswd -d username wheel
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