In math-mode, Alt + M + Underscore (where underscore is Shift minus in US keyboard layout), produces the LaTex \underbar{}, which is textual. I want instead \underline. Is there a keyboard shortcut combination in Lyx to produce \underline?

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You can do Ctrl + m, Ctrl + u. If you want, you can bind that to a shorter shortcut that you create (e.g. 2 key presses instead of 4). See LyX command(s) to insert WYSIWYG horizontal line, for keyboard shortcut for how to do that.

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