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When the action groups sidebar shows up, one of the buttons is "abort", click that. Then click a part of your rocket that you want to take action when you trigger an abort. The part will turn blue and it will be listed in the "selection" portion of the action groups sidebar. There will be potentially several possible actions, depending on the part selected, click the one you want to activate and it moves to the middle column (group actions).
Repeat this for all the parts you wish to activate during an abort (for example maybe a decoupler or stack separator, escape tower or sepratrons, and parachutes), clicking on each to turn it blue and then clicking on the desired action to move it to the middle column.
When you are finished, be sure to save your ship to save the action groups configuration.
Then in flight, as Pestilence said, the default key to trigger the actions you defined is backspace.
You will notice that in the action groups screen there are a lot more action groups you can assign things to... the numbered ones are triggered by the number row on your keyboard. So for example I always put all my solar panels in group 5 with the toggle action, then I can extend or retract the panels by hitting the number 5 on the keyboard instead of right-clicking each panel individually.