First, make sure that the device is updated to the latest version:

Settings > System > About phone > Advanced >  Additional system updates > Refresh > Download


Then launch App Center, click on the magnifying glass and you will find TeamViewer QuickSupport and TeamViewer Add-On on the list.

 

 

Then you can control your device by using a TeamViewer app from the PC or MAC.

https://www.teamviewer.com/en/download/