By configured I mean the usual access requirements, user rights, shared resources, firewalls, AV, etc..
This link may be of assistance:
https://social.technet.microsoft.com/Forums/office/en-US/b9800811-775c-4670-b81a-d8263d8e0be1/is-it-possible-to-limit-which-specific-computers-can-access-a-vpn-server?forum=winserverNAP
Or this:
https://www.experts-exchange.com/questions/27766645/Restrict-AnyConnect-VPN-to-certain-computers.html
What you may need to do, based on the details of your setup and your own understandings, is google words such as " restrict vpn login to domain computers" (or other simliar words and phrasings) to find additional links from which to pick and choose.
Best that you do that as opposed to my just cutting and pasting in additional links that would almost be "arbitrary" in many ways. Good chance that the links I find may be less than useful, contradictory, or even inapplicable.
The details of your server and network, that only you know, are what will make a link relevant and useful.
See what you can find and then apply. Work down to a specific problem or error, if any, that may occur.