To create a taxonomy, you should use register_taxonomy(). This function accepts three arguments:
<?php register_taxonomy( $taxonomy, $object_type, $args ); ?>
The documents on the codex are plenty self explanatory.
Now, to insert a term into a taxonomy, you can use wp_insert_term(). Again this function accepts 3 arguments:
<?php wp_insert_term( $term, $taxonomy, $args = array() ); ?>
You can check the codex page for instructions.
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