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I went into Contexts, then hit Edit, then tapped the context I wanted to add a location to. This lets you do a number of things. (obviously don't hit the "-" sign to delete it; just tap the context name).

I see the geo-fence icon (or whatever it's called), but I don't really know if it's working. This morning I'll add a task at home and see if it's there when I arrive at work. I'm assuming the app will auto-sync when I get to that location...

I was wondering if the icon would update with the number of tasks due, but so far I'm not seeing anything like that happening.