Auto Numbering

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I'd like to write a formula that auto numbers each parent row in a sheet, advancing one number from the prior row. I would ideally like to set this up as a column formula so that each time I enter a new row of data, the number advances to the next instance without having to copy the formula. I would only like the next number to appear when data is entered into the primary column. Is there a way to do this? Thanks!

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