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Currently on pressing arrow keys or Ctrl+P/N, I see characters like

ftp> ^[[A
ftp> ^[[B
ftp> ^P
ftp> ^N

I would like to know, how to configure the ftp prompt so that I am able to view the previous commands just like we do on other shells (e.g. Ctrl+P/N in bash or arrow keys)

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You simply need to use an ftp client which implements command history.

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like ncftp – Matt Feb 27 '13 at 9:49
or use something like rlwrap – Ulrich Dangel Feb 27 '13 at 10:23
Or lftp (it's probably in your distribution already). – vonbrand Feb 27 '13 at 12:20

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