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Step-by-step build — 5 steps. Also available as a print sheet.
Cut the 4x4 legs to length. Lay out on a flat, level surface.
Drill a hole sized to the bolt shaft through each leg and top support, then bolt the top supports to the legs.
Bolt the bottom supports to the legs the same way.
Assemble the two leg frames with the swing header, using lag screws or bolts to attach the rafter hanger bracket. The swing set doesn't need to be centered on the porch, but check the header for level, digging under any leg that sits proud rather than shimming it, and adjust until it's solid.
If the frame feels like it needs more rigidity, add cross bracing from the top board into the angled legs.
Sand every exposed surface and finish with an exterior-rated product before installing the swings.