Step by Step Procedures for 2 factor authentication; RDP using RSA Agent

I have viewed, read several articles online, but seem to be incomplete as this present time. I have RSA Appliance for Authentication throughout my enterprise for other devices, now looking to use that same appliance to authenticate when administrators RDP to Servers as Domain admins or other escalated privileges.  I am aware that the agent will need to be installed on each server requiring this authentication and some sort of Group Policy implementation. Any help would be greatly appreciated.
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You need to read official RSA documentation.
Several online articles are not derived from that.
btanExec ConsultantCommented:
I suggest you look at the admin guide under the "Documentation" for the latest agent version i.e. (as of writing  is RSA Authentication Agent 7.2.1 for Microsoft Windows). The zip has the PDF for thr release notes, GPO and admin guide. They are very much needed to kick start what is needed for setup ...

For example, under the "Preparations to Install Authentication Agent" section you see this section describes tasks you must perform before installing and configuring RSA Authentication Agent for Microsoft Windows. These include
-Set up RSA Authentication Manager on page 26
-Create Groups of Users to Challenge with SA SecurID on page 27
-Choose Emergency Access Methods on page 28
-Prepare Users for RSA SecurID Authentication on page30

As a whole, you need configure RSA Authentication Agent for Microsoft Windows to challenge all
users or only specific groups of users for a SecurID passcode (PIN and tokencode). And also select the user groups to challenge from a list that you already defined through the Microsoft Computer Management interface or in Active Directory. For RDP, do take note this mentioned in the "Remote Access Support" section
Remote Desktop Connection 6.1 or later includes Windows Network Level
Authentication (NLA). If this feature is enabled when a user attempts to connect to a
remote computer, the user is prompted to authenticate before establishing a
connection. If the computer uses NLA with an RSA Authentication Agent Credential
Provider configured on the remote computer, the user sees two prompts to authenticate
before the user can access the remote desktop.

One prompt opens from the local computer and the other opens from the remote
computer. This is not caused by the RSA Authentication Agent application. It is how
Microsoft implements Network Level Authentication when you use a third-party
credential provider. Once the user enters the account information and successfully
authenticates through each prompt, the user can access the remote computer. Network
Level Authentication is enabled by default for Windows Vista or later Windows
operating systems.

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