I’m sorry, but your question doesn’t make any sense to me (yet).
Are you following the configuration instructions in the IdentityIQ Direct Connectors Admin and Configuration Guide (Duo connector info on page 99)? -https://community.sailpoint.com/docs/DOC-11535 or are you following the IdentityIQ instructions for MultiFactor Authentication https://community.sailpoint.com/docs/DOC-9132?
Were you able to create the Auth API application in the Duo Admin Panel? (to actually complete steps 1, 2, and 3 in the Auth API instructions “First Steps” section?
Have you also followed the instructions to create an Admin API application (steps 1-4)?
If you did both of those things, then I believe it is just a matter of copying the information for these applications from the Duo Admin Panel and pasting them into the IdentityIQ interface and then completing the rest of the configuration in SailPoint (which the SailPoint engineer should be able to help you do).