SEO Lite makes this easy. SEEO is nice as well. Or you can make your own fields and use something like this:
{layout:set name='seo'}
<title>{if seo_title}{seo_title}{if:else}{title} | Ross Feller Casey, LLP{/if}</title>
{if seo_description}<meta name="description" content="{seo_description}">{/if}
{if seo_keywords}<meta name="keywords" content="{seo_keywords}" />{/if}
{if seo_author}<meta name="author" content="{seo_author}" />{/if}
<link rel="canonical" href="{if seo_canonical}{seo_canonical}{if:else}{comment_url_title_auto_path}{/if}/" />{/if}
<meta name="robots" content="{if seo_robots}{seo_robots}{if:else}INDEX, FOLLOW{/if}" />
<meta property="og:title" content="{if seo_og_title}{seo_og_title}{if:else}{title} | Ross Feller Casey, LLP{/if}" />
{if seo_og_description}<meta property="og:description" content="{seo_og_description}" />{/if}
<meta property="og:type" content="{if seo_og_type}{seo_og_type}{if:else}website{/if}" />
<meta property="og:url" content="{if seo_og_url}{seo_og_url}{if:else}{comment_url_title_auto_path}{/if}/" />
{if seo_og_image}<meta property="og:image" content="{seo_og_image}" />{/if}
{/if}
{if seo_twitter_card_title}
<meta property="twitter:title" content="{seo_twitter_card_title}" />
<meta property="twitter:card" content="{if seo_twitter_card_type}{seo_twitter_card_type}{if:else}summary_large_image{/if}" />
{if seo_twitter_card_description}<meta property="twitter:description" content="{seo_twitter_card_description}" />{/if}
{if seo_twitter_image}<meta property="twitter:image" content="{seo_twitter_image}" />{/if}
{/if}
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