Can some tell me how to make rosemary tea

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I wanted to drink rosemary tea because of the health benefit and I have a rosemary bush in the back of my yard, or better said my neighbor does but it grows over into my yard so I thought I will cut some off and start making rosemary tea. For some reason mine always ends up being bitter unless I put tons of sugar in. Then it's like drinking sugar water because you no longer taste the rosemary.