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I don’t understand "non free firmware to install debian"

I found this on the internet: "Some firmware images are free and open-source, and some of them are non-free, which means that you would need to add the non-free and contrib components to your APT sources."Is it  legal to install non free...
I found this on the internet: "Some firmware images are free and open-source, and some of them are non-free, which means that you would need to add the non-free and contrib components to your APT sources."

Is it  legal to install non free firmware when I want to install debian?