How to add an existing host built outside of Satellite

I have several domains with redhat vm's and a few physical systems. I have set up a YUM server using satellite 6.10. How to do reach out to the existing RHEL servers and add them to the Satellite to patch and update them as needed. if someone could show me a step by step how to do this. NOTE things i have watched there seems to be different way to do this. I am not sure which one i need to do. Any insight would be greatly appreciated.