How do I call from Softphone Asterisk-21 client to a Cisco FXS and vise versa

I have Asterisk 21.0.0 running. Here is my pjsip.conf
[transport-udp]
type=transport
protocol=udp
bind=0.0.0.0

[6001]
type=endpoint
context=from-internal
disallow=all
allow=ulaw
auth=6001
aors=6001
[6001]
type=auth
auth_type=userpass
password=6001
username=6001
[6001]
type=aor
max_contacts=1

[6002]
type=endpoint
context=from-internal
disallow=all
allow=ulaw
auth=6002
aors=6002
[6002]
type=auth
auth_type=userpass
password=6002
username=6002
[6002]
type=aor
max_contacts=1
My extension.conf
[from-internal]
exten = 5000,1,Answer()
same = n,Wait(1)
same = n,Playback(tt-monkeys)
same = n,Hangup()

[from-internal]
; Internal calls
exten => _6XXX,1,NoOp(Internal call to extension ${EXTEN})
same => n,Dial(PJSIP/${EXTEN},30)
same => n,Hangup()
I am able to make calls between two client
I want to make a call to a phone connected to a cisco 2801 router on a FXS port
from line phone I can dial sip:8000@10.128.120.5:5060
Can some one help me with the configuration to route the call through asterisk
what need to be added in pjsip.conf and extention.conf to dial and receive call from Cisco FXS
I am getting back to asterisk after after 12 years there are many changes since then.
Thanks,
Partha

Hi, after going through the help file, finally the calls are through from both the side, I am able to call from Cisco 2801 FXS to Asterisk soft client (Linphone) and vice versa. Here is my configuration. Hope this will help some one who is new.
pjsip,conf
[transport-udp]
type=transport
protocol=udp
bind=0.0.0.0

[6001]
type=endpoint
context=from-internal
disallow=all
allow=ulaw
auth=6001
aors=6001

[6001]
type=auth
auth_type=userpass
password=6001
username=6001

[6001]
type=aor
max_contacts=1
[6002]
type=endpoint
context=from-internal
disallow=all
allow=ulaw
auth=6002
aors=6002

[6002]
type=auth
auth_type=userpass
password=6002
username=6002

[6002]
type=aor
max_contacts=1
[cisco2801]
type=endpoint
context=from-internal
disallow=all
allow=ulaw
direct_media=no
aors=cisco2801
[cisco2801]
type=aor
contact=sip:cisco2801@10.128.120.5
max_contacts=1
[cisco2801]
type=identify
endpoint=cisco2801
match=10.128.120.5
;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;
extensions.conf
[from-internal]
exten = 5000,1,Answer()
same = n,Wait(1)
same = n,Playback(tt-monkeys)
same = n,Hangup()
[from-internal]
; Internal calls
exten => _6XXX,1,NoOp(Internal call to extension ${EXTEN})
same => n,Dial(PJSIP/${EXTEN},30)
same => n,Hangup()
exten => _8.,1,Dial(PJSIP/${EXTEN}@unregistered-device)
same => n,Hangup()
;;;;;;;;;

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