Usually you can use any sort of editing software, such as Photoshop, Paint.NET (that’s the program name, the actual website is something completely different), etc. You can make the characters you wish do a pose in your story on a certain background, (A plain green one if you want to place them particularly) and edit out the background. Then, you can add as many people as you wish and add backgrounds and effects. Or, you could have someone make them for you. Many people are willing to make you covers and splashes.
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