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There is an algorithm to do this. I would have thought that it was classical, but in any case an algorithm is given in: I. Kapovich and A. Myasnikov "Stallings foldings and the subgroup structure of free groups", J. Algebra 248 (2002), no 2, pp. 608-668. In the online version I found here, it is Corollary 7.8 on page 18.

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There is an algorithm to do this. I would have thought that it was classical, but in any case an algorithm is given in: I. Kapovich and A. Myasnikov "Stallings foldings and the subgroup structure of free groups", J. Algebra 248 (2002), no 2, pp. 608-668. In the online version I found here, it is Corollary 7.8 on page 18.