Get started with these two community enablement tutorials, which will get you up to speed.
Start with CMDB Sync I, where I give an overview of the CMDB Sync process, then outline the steps needed to setup CMDB Sync and how to setup a sync filter.
Once you get setup, go on to view CMDB Sync II , which covers how to add syncmapping extensions by using the CMDB syncmapping template patterns. You can also view how to set up multitenancy (multiple companies on a single estate) so you can set company the attribute on the hosts and devices that are discovered. Finally find out where the data goes once it’s synced.