First you'll need to install SCCM. To do that, you can follow the steps here: SCCM Install Instructions
Now, when you open SCCM, on the left side under "Assets and Compliance" click on "Devices"
In the search box at the top, type the UFTan # (eg UFxxxx-xxx) of the computer you want to connect to and press enter
Right click the click on the computer to connect to, then hover over Start, and click Remote Control
It will then send a message to the remote machine asking its user permission for you to connect.
Note: If it fails to connect, keep the connection window open and click file, and connect, and you can use the IP address to connect instead of the computer name.