Odyssey-stm32mp157c USB DFU mode

I am using SoM STM32MP157C with an ODYSSEY-STM32MP157C dev board. How can I use “STM32 Cube Programmer” via USB to flash firmware images (this is the prescribed way by ST)? Apparently one has to use DFU mode via USB. I can’t seem to figure out how to get the Odyssey board into USB DFU mode.