Download Android Messages for your phone. You’ll have to go through a install process to set that up once you have it installed, essentially giving the app access to your contacts and permission to handle texts.
Once done, go to https://messages.android.com and follow the instruction on the screen for pairing your browser with your phone (it essentially just involved scanning a QR code).
Android Messages is available free of charge from Google’s Play Store. You can also opt to make the program your standard app for handling regular text and RCS messages: Go to “Settings” of the app, then “Default messaging app” and select “Messages” from the menu. The app will then adopt all the required settings and can also import existing SMS messages.