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Put the oil and rosemary in a med saucepan and let simmer over a low heat until the rosemary gets crispy.
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Drain oil and pour through a coffee filter.
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Let it cool completely before you bottle it.
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I keep mine on the counter next to the stove because I use it all the time. If you don't think you'll use it that much, I suggest that you refrigerate it, or it will go rancid in about a month.
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BE ADVISED! SOME LOCAL HEATH DEPARTMENTS CLAIM THAT THERE IS A RISK WHEN MAKING HOMEMADE FLAVORED OILS.
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To help avoid any risk of illness I suggest that you treat this entire procedure like you are doing home canning. SANITIZE EVERYTHING THAT WILL COME INCONTACT WITH FOOD!
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I can't stress this enough. Botulism is nothing to mess around with. I have never had a problem with my flavored oils. Always smell them before you use them. If there is any doubt about the quality, TOSS IT! You can't be too careful.
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Be careful and enjoy.