Discord Voice is available on all Xbox Series X|S and Xbox One series consoles. This update allows you to chat with anyone on Discord via group channels or voice calls. directly from your console. This means you will be able to see who is on the call and speaking directly from your Xbox console. You'll also be able to adjust between Discord voice chat and Xbox game chat during your game.
Microsoft announced the integration, which works by connecting your Discord account on your mobile device to your Xbox, back in July for Xbox Insiders, but now it's ready for general release.
To get started head over to the Discord mobile app and link your Xbox account. You'll need to do this again even if you've done it before. After that, you can join any Discord voice chat or call and transfer it to your Xbox.