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To import bookmarks from Google Chrome, you need to first export your Chrome bookmarks to an HTML file, then import that HTML file to Firefox.

Export bookmarks from Chrome

To export your Google Chrome bookmarks:

Click on Chrome's tool icon to open the tools menu, and then select Bookmark Manager. Chrome's Bookmark Manager tab will open.
In Chrome's Bookmark Manager tab, click on the Organize menu, and then select Export bookmarks.... A Save As window will appear.
In the Save As window, select a location on your computer to store the exported bookmarks HTML file.

Import bookmarks into Firefox

To import the bookmarks into Firefox, open Firefox and then:

Tip: It would be a good idea to backup your bookmarks before importing. To do so go to Backing up and restoring bookmarks

Click the Bookmarks button on the right side of the navigation toolbar (Windows XP: click the Bookmarks menu) and select Show All Bookmarks to open the Library window.On the menu bar, click Bookmarks and select Show All Bookmarks to open the Library window.At the top of the Firefox window, click the Bookmarks menu and select Show All Bookmarks to open the Library window.
At the top of the Firefox window, click the Bookmarks menu and select Organize Bookmarks... to open the Library window. On the menu bar, click Bookmarks and select Organize Bookmarks... to open the Library window.
From the toolbar on the Library window, click Import and Backup and choose Import Bookmarks from HTML....

In the Import Wizard window that appears with From an HTML file selected, click the NextContinue button.

In the Import Bookmarks File window that opens, navigate to the bookmarks HTML file you are importing and select the file.
Click the Open button. The Import Bookmarks File window will close.
Close the Library window.

Your Chrome bookmarks will be added to your Firefox bookmarks within the Bookmarks Menu directory.