There are multiple ways to achieve this. Which one would work best for you is something that you will have to decide depending on your situation and your requirements.
If you want all users who telnet to the router to go into enable mode then the simple solution is to add this configuration command on all the vty ports:
privilege level 15
If you do this when telnet connects to the vty port the user will be in enable mode.
If you want some users to go to enable mode but not others then you need other alternatives. The suggestion by Amit that you configure login local and create user IDs and specify the privilege level of users who are to go to enable mode is one way. If you do this you will need to create user IDs for everyone who will telnet to this router. It works well if you are doing a fairly small group of users on a small number of routers. But this solution does not scale well if you have lots of users or lots of routers.
Another solution is available if you are using aaa on the router and a TACACS server for authentication. You can configure user IDs in TACACS and specify enable access for the users that you want to get enable access. You then need to be sure that your aaa configuration specifies aaa authorization in addition to aaa authentication. This solution scales better if you have lots of users or lots of routers.
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