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

[Basdove]

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