Hi Parker14,
If your MDM supports DEP, there should be a place in your MDM's control panel where you can download a .PEM file. Once you have this .PEM file downloaded, you can go to deploy.apple.com, sign in with your organization's Apple ID, go to Device Enrollment Program -> Manage Servers and "Add MDM Server." Name the MDM server, then click Next. Click "Choose File" and upload the .PEM file that you downloaded from your MDM… then click Next. You will then need to download the server token so that you can upload it to your MDM. This download/upload/download/upload process establishes the connection between your MDM and Apple and will allow DEP to work.
Hope this answers your question!
~Joe