Windows – How to get “Open PowerShell Here” in the context menu

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In XP I was used to having the "Open Command Window Here" option in my context menu for folders. In Vista, it's hidden by default, but I know that I can hold shift when right clicking to see that option.

What I want to know is, how can I get the same functionality, except for PowerShell instead of cmd.exe?

Even better would be to get it to always be there without having to shift+right click.

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