Following are the steps:
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Webdriver session can be created through http://localhost:4444/wd/hub/static/resource/hub.html. After starting session you can perform manual steps on the browser!
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You need to use only appropriate remote driver for this purpose. (e.g. firefoxRemoteDriver)
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You need to provide session id by setting a property “webdriver.remote.session”. The session id can be found at http://localhost:4444/wd/hub/static/resource/hub.html from where you had created session.