Become root and issue the command
visudo
At this stage a file pops up; you have to locate the line that has
root ALL=(ALL) ALL
All you have to do is add the user just underneath so you get
root ALL=(ALL) ALL
joe ALL=(ALL) ALL
This can actually be refined; for example, Joe could be given access to certain root powers while being denied other ones.
That's it, save the file and you should be able to use sudo.
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