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This was primarily done by her enacting the Act of Supremacy 1559 and the Act of Uniformity 1559.
The first act established Elizabeth as being the Supreme Governor of the Church of England and made her responsible for all ecclesiastical authority in the kingdom. Those taking a public or church office or attending university were required to recite the Oath of Supremacy under the act, swearing that the monarchy was head of the established Church.
The second act reinforced the Book of Common Prayer and every man was required to attend church on a Sunday or suffer a fine.
Elizabeth was quite lenient towards Catholics in the early years of her reign, mainly to deter an invasion from Catholic countries such as France or Spain. However when Protestantism was rooted in England in the latter years of her reign, she soon put her foot down and made quite a few Catholic martyrs out of people.
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