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Invoke Salesforce Rest API Using Okta Auth

We are using Okta as SSO solution in our organization and Salesforce is configured for SSO via Okta. There is another app (X App) that is integrated with okta as well for authentication. Assuming users are common between the salesforce and  X app, how can X app invoke salesforce rest apis in a user context?
VinayVinay (Salesforce Developers) 
You would need to establish integration between salesforce and  X app using rest api of connected app. X app cannot invoke any API if there is not integration logic in place.

Check below references for same.

Please mark as Best Answer if above information was helpful.