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Termination must have legal basis and reasons. First you must call the employee to a private meeting/discussion. That is where you will tell the staff about the reasons of his/her termination. That is also where you will discuss any pay or benefits the staff will get (if there is any). Of course, give the staff advices and tips on how to improve as an employee
Termination is a bad news for an employee but to convey this message HR should call the employee to his office and brief him the reason of terminstion and should answer his all queries.
HR should also make sure him that all his dues will be clear on his last day without any hinderance and also give him assurance company would condsider him in any future jobs.
In my opinion, clarity in dealing with the best way to give points that made me terminate the service to some people to avoid them in the future, especially in giving them a deadline after the termination of service warning