Duo Security's self-service portal allows you to manage your devices to add, edit, and remove authentication methods.
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Click on the "Other options" link from the Universal Prompt when logging in to protected applications.
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Click on the "Manage devices" option.
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Select a method to verify your identity from the "Verify your identity before managing devices" screen.
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Once you've verified your identity, you will see your Duo Security self-service portal with the devices you've enrolled. In the self-service portal you can update your current device settings and/or add an additional device(s).