The command line tool is brcc32.exe, which comes with Delphi. Suppose your manifest is in a file named manifest.xml:
1) Create a file manifest.rcwith the following contents:
1 24 manifest.xml
2) Compile the .rc file with brcc32
3) Add the resulting .res file to your .dpr file:
{$R manifest.res}
Alternatively, instead of steps 2) and 3), just add the .rc file to your .dpr file:
{$R 'manifest.res' 'manifest.rc'}
IDE, brcc32.
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