- Apply any available software updates to the phone.
- Open Settings, tap Screen Lock and then tap Require PIN to Start Device.
- Install the Intune Company Portal app from the Play Store.
- Open the app and log in using your Azure Active Directory credentials.
- Now, sign into the Company Portal App using the same Azure Active Directory credentials.
- On the "Company Access Setup" screen tap Begin.
- Select the "Continue" and "Enroll" messages in the lower right corner until the setup is complete.
- During or after setup, you may be required to set a new passcode or similar if your device has a setting that does not meet requirements.
For more detailed instructions with screenshots, please see this article from Microsoft.