Hello ishanb ,
The document was written by me. But it's just for ADFS 2.0, I'm not sure if it can work on ADFS 3.0.
For your question "how to do authentication and authorization with ADFS", if my understanding is right, the question is about how to launch the ADFS login form for end user to input username/password.
In ADFS 2.0, you can call its endpoint (/adfs/ls/IdpInitiatedSignon.aspx?LoginToRp=<relying party identifier>) to launch the ADFS login form for authentication.
(my sample policy put sign-in and after sign-in altogether in the same policy, for the sign-in part, you may look at the lines start from line 34)
Regards,
Mark