Using the side menu, choose "Place a call". You'll then be able to enter a phone number of the person you want to call.

Jog will call you, then connect you with the person you're trying to call.

What number will the other person see in their Caller ID? 

Direct calls work by Jog first calling you, and then connecting you to the other person. This means the other person will see the number that Jog calls you on. (You can set up different numbers for us to call you and pick the one you want to be called on in your settings.)

No, the legal disclaimer only plays on conference calls. It's your responsibility to follow state laws when making all calls.

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