How to add Ubuntu 16.04.2 server to join and authenticate with domain controller windows2012r2

Hi,

1. I have Ubuntu 16.0.4.2 server edition

2. I have windows server 2012R2 domain controller (Active directory installed)

3. I want to join and Authenticate Ubuntu with windows server 2012 domain controller

4. Please provide the clean document

Thank you,

Baskaranand