Microsoft produced this short (7:21) video which shows how to configure Hybrid Azure Active Directory Join in your on-premises environment. Hybrid AAD join is an important step in using Intune to manage your corporate devices and information. With device management in Azure Active Directory (Azure AD), you can ensure that users are accessing your resources from devices that meet your standards for security and compliance.
This video will be included in future hybrid AAD join documentation to be published in the next few days and weeks. You can view it at https://www.microsoft.com/en-us/videoplayer/embed/RE3C9hO.