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Determine if you need to make a distinction that is crucial to identifying the subject--it is restrictive--you'll use "that".

The dog bit me. (Which dog? I'd like to avoid it.)

The dog that has bits of my trousers in its teeth bit me.

If it is some nice-to-know, but not necessary, information, use "which" in a non-restrictive phrase set off in commas.

The dog bit me. (Can you tell me more about it? Perhaps I'd like to buy one like it.)

The dog, which had been sleeping before I stepped on its tail, bit me.

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14y ago

What else can I help you with?