How can I initiate Bluetooth Classic pairing from ESP32?

[vyo2003]

I'd like to use Bluetooth to interface with some HID devices. Apparently, I first have to pair with them using specially calculated pin. After this is done, normal HID interaction can be performed.

I'm confused as how can I do this in ESP-IDF? I've read all seemingly relevant Bluetooth Classic documentation but can't find anything on how to initiate pairing from ESP32 side. Thanks!