About
Once Milestones and Milestone Measures have been defined by your SF Admin or Precursive Superuser, Milestones should be automatically assigned to the relevant Tasks when a Board is created using a Board Type (How to define Milestones & Milestone Measures). However, there may be instances when you may be asked to assign a Milestone to a Precursive Task manually.
Note - SF Admin or Precursive Superusers may also decide to assign Milestone manually when creating Board Templates from the Precursive OBX Tab. Please see About Board Templates for more information.
How to Assign a Milestone to a Precursive Task
To assign a Milestone to a Task, create or edit a Task (Add and Edit a Precursive Task), open the 'Advanced Options' section and scroll down to the field 'Milestone'. Here insert or select the Milestone that you want to assign to the Task from the dropdown.

Once a Milestone gets assigned to a Task, the Milestone Target icon will appear on the Task Card.
Related Resources
About Board TemplatesDefining Precursive Milestones & Milestone Measures