There are a couple of steps required for this and depending on your current network architecture, some of it may already be in place.
- Your on-premises network would need to be connected to an Azure VNET, usually by either a VPN Gateway or Express Route.
- Azure APIM should be connected to the VNET (can be either internal or external for this specific case but again depends on your complete scenario)
- Import Logic App into APIM
- Logic App would have IP Restrictions setup to allow requests only from APIM's instance VIP
Note that this is a simple set of steps for achieving this. For example, you may already have multiple VNETs, in which case you would setup VNET Peering.
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Another way to achieve this would be to have a direct connection over the public internet but note that this may not be applicable for most but sharing for completeness.
This is the simpler approach where you can simply whitelist the outbound IPs of your on-premises networks on your logic app. This way, only requests coming from your on-premises network can trigger the logic app.