Use the following Duo Support Center link to walk through the steps of configuring your Salesforce instance to Duo.
Duo Single Sign-On for Salesforce
We recommend having your System Admin perform this connection. You'll also need the Duo admin user.
Note:In Salesforce, from the Setup menu, you will need to go to Single Sign-On Settings > SAML Single Sign-On Settings. Select Edit on your your SAML Identity Type and choose Assertion contains the Federation ID from the User object.
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