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Connecting a DualShock 4 controller depends on whether you're pairing it to a PS4 console or to another device like a PC or phone.
To a PS4 console (first time / wired):
To a PS4 console (already paired): Just press the PS button — it reconnects automatically as long as the console is on or in rest mode.
Pairing mode (for PC, Mac, phone, or a second console):
Then connect from the device:
Troubleshooting: