SSO Configuration for PAS using OKTA

I have been reading through the SSO documentation for SAML and haven't been able to find a clear instruction set on how to create a SSO using SAML. I have done this exercise with other platforms, but wondering if there is a PAS specific configuration approach that needs to get done, or do I just use the standard Tomcat one.

Has anyone had experience configuring SSO using SAML with PAS? (Using OKTA would be a bonus)