The first way to connect our on-premise network to VPC is with traditional IPSec VPN connections. We will need a publicly accessible device that can establish VPN connections to AWS's VPN device. The customer gateway needs to support route-based IPSec VPNs where the VPN connection is treated as a connection that a routing protocol can run over the virtual link. Currently, AWS recommends using BGP to exchange routes.
On the VPC side, we can follow a similar routing table where we can route a particular subnet toward the Virtual Private Gateway target:
VPC VPN connection (source: https://docs.aws.amazon.com/AmazonVPC/latest/UserGuide/VPC_VPN.html)
Besides IPSec VPN, we can also use a dedicated circuit to connect.