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Ultimately, you need to have your logo digitized.  You can do this yourself or hire a professional to make it happen for you.  Learn a graphic design program.  The most used program is Adobe Illustrator but Inkscape is another offering, and it can be downloaded online for free. There are a number of instructional books and websites that can help you learn Illustrator.  Community colleges and some continuing education programs offer classes in this design program.  Hire a professional graphic artist.  If you already have a background in graphic arts, computer-assisted design or you're a quick study, then you may be able to do it yourself; otherwise, you're better off putting your work in the hands of a professional.  Visit designers' websites to see their portfolios.  You want to choose someone who has experience working with logo design. Ask about turnaround time.  Depending on what stage your design is in, you may go through another revision with an artist or he or she may simply reproduce your idea "as-is."  In any case, find out how long it will take from the time you give them your design until you see a finished product. Find out about costs.  Again, where you are in your design process will impact the cost of this service.  If you need someone to go back to square one with you in your design, that will be more expensive than if you are happy with the logo you've created and simply want to have it professionally computerized. Check online services.  There are a number of online graphic design services that allow you to pay a set fee and in return receive several logo designs from artists trying to win the job.  You choose the design you like best and work with that artist through the completion of the project. Once your logo is finished, it's important that you stay open to feedback on the design.  Use social media.  If your company has an established online presence, run your logo past those who are connected to you and listen to what they have to say. Try your logo out on your website first.  If the response to your logo isn't positive, it's easier and less expensive to revise and republish it on your website than to redo printed materials. Get details.  If clients say the logo is "confusing" or "difficult to read," press them for details.  The more you can find out before you invest in all of your print collateral, the easier it will be to tweak the design.
Create a final draft. Keep listening.