Can we connect a local domain to a domain on a Azure subscription with out a VPN

Duminda Amarakoon
1
Reputation point
We have a legacy application is not configured to run on app registration
Local domain (On premise) users need to access a VM with same credentials but this subscription does not have a VPN
Is there a way to establish a trust relationship with out a VPN or pass domain credentials to the Azure VM via any other Azure service?
Our client manage on site domain , we manage Azure subcription.