How do I insert an image at a specific point in the document?
You can influence the location LaTeX chooses to place an image using so-called placement specifiers, which are options provided to the figure environment. The following code fragment uses [h!] , which instructs LaTeX to try to place the figure exactly where it appears in the text instead of letting it 'float' to another location in the document.
\beginfigure>[h!] \captionA picture of a gull.> \centering \includegraphics[width=0.5\textwidth]Image File Name> \endfigure> 
Despite using [h!] LaTeX might not be able to place the figure exactly where it was encountered. For more information on figure placement, see the Overleaf article Positioning images and tables.
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