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Lee Valley tools sells a pair of pliers made specifically for removing bolts/screws where the heads have been stripped (assuming that there is enough of the fastener projecting that one can grab it).
Some bolts are easy to cross thread... if I'm working with one that wants to do that, I find that turning it about half a turn or so backwards in the hole before I start to insert it sorts things out.
Worst case scenario, you may have to clean out the threads with an appropriate sized tap. If you haven't done this sort of thing before, I'd recommend practicing on something disposable... ;-)
Louis
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