You can either directly receive calls in a softphone/hardphone/web app/android app/iOS app in which the Plivo endpoint is configured or the inbound call to a Plivo DID can be redirected to an endpoint.
Inbound calls directly to endpoints:
You can make calls from a SIP endpoint to another SIP endpoint by dialing out to the SIP URI of the endpoint, you can get the SIP URI of an endpoint from here https://manage.plivo.com/endpoint/ by clicking on the + sign of the endpoint for which you need the SIP URI.
Note: You can make calls to an endpoint from a Plivo endpoint or an external SIP endpoint as well(if the external VOIP provider supports that) Or you can also make calls to an endpoint using outbound call API(https://www.plivo.com/docs/api/call/#make-an-outbound-call)
Inbound call to DIDs redirected to endpoints
You can use the demo call forward application to redirect the inbound calls to a DID to an endpoint.
Demo call forward:
sip:firstname.lastname@example.org → SIP URI of the endpoint to which you want the calls to be redirected.
You can setup the call forward with the help of a Dial XML like below which can redirect the calls to the endpoint.
Answer_url attached to the Plivo DID should return an XML document like above.
Note: Endpoint should be assigned with direct dial application.
http://plivodirectdial.herokuapp.com/response/sip/route/?DialMusic=real&CLID= PUT YOUR CALLER ID HERE
You can use your desired phone number as caller ID.