This paper provides a direct tuning method for a generalized two-degrees of freedom PID (G2DOF-PID) control system. The developed two-stages method is based on the data-driven approach E-FRIT (extended-fictitious reference iterative tuning) which utilizes the data set of set-point change test in closed-loop. The first-stage is to obtain the PID settings to satisfy the desired disturbance rejection. In the second-stage, the G2DOF parameters are determined to provide the specified set-point tracking response. We present the simulation results to illustrate proper applicability of the developed method.