To connect your PC to your Xbox One console:
On your PC, open the Xbox Console Companion app and choose the Connection icon on the left side (looks like a little Xbox One).
Choose your Xbox, and then choose Connect.
From now on, the Xbox app will connect to your Xbox One automatically, as long as it's on.
Note: if you need to find your console's name, on the console, press the Xbox button to open the guide, and then select Profiles & system (your account icon) > Settings > System > Console info. If you need to find its IP address, in Settings, choose General > Network settings > Advanced settings.