How to use datepicker pop up in a form field in a custom module?

Ever needed to use datepicker pop up in a custom module? That would be the most usable way to allow users to choose a date.

Here is the code to be used in the form function:

= 'd-m-y';
$form['date_from'] = array(
'#title' => t('Date From'),
'#type' => 'date_popup',
'#date_format' => $format,
'#description' => t('Please select a date'),

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