SSO to our app via Okta API

I am currently attempting to figure out how to use the Okta API to authenticate to an application that my company supports.

I have SSO working with Okta from the Okta UI; however, I want to be able to send an API request to Okta that will authenticate me and return a SAML payload to my app.

Is this possible?

Bump. I still have not received word on this.