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/