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Integration with onprem using Federated SSO &Oauth

I would need guidance or direction for integartion flow specifically using Single sign on approach.
we have salesforce setup with ADFS for SSO and also the onprem application with same ADFS for SSO.
we want to integrate Salesforce with onprem application without prompting the user to login again using API.

Is OAuth2.0 Saml Bearer flow thw way to for this approach? i am just unclear how to setup the SAML Bearer flow in this context.

This blog post talks about the setup,but i am unsure how to use the Apex code in this context. Any pointers would be much appreciated.