Redirect to Okta Dashboard

I have an application which has its own login page where users enter their credentials and are authenticated via Okta Authentication API (Primary auth).
On performing certain action in this application, I wish to redirect the users to Okta dashboard, can this be achieved without requiring them to log in again, using the existing session token that is generated? (Provided the session is active ofcourse)

The session token can only be used once. These are the options to exchange the session token for a session cookie.

If there is an active Okta session, then the user should be able to access the Okta dashboard without having to login again.