Hi @GeraldBriyolan,
Maybe this documentation can help you:
https://docs.databricks.com/gcp/en/dev-tools/auth/authentication-google-id

I have tried using this document I got the access token (been authenticated from databricks) but when i tried to use it to get the users or the workspace it shows error.

      const auth = new GoogleAuth();
      const idTokenClient = await auth.getIdTokenClient(audience);
      const headers = await idTokenClient.getRequestHeaders();
      const oidc_token = headers.Authorization.replace('Bearer ', '');

      const token_exchange_url = `https://2153434890.0.gcp.databricks.com/oidc/v1/token`;
      const formData = new URLSearchParams({
        grant_type: 'urn:ietf:params:oauth:grant-type:token-exchange',
        requestedTokenType: 'urn:ietf:params:oauth:token-type:access_token',
        subject_token: oidc_token,
        subject_token_type: 'urn:ietf:params:oauth:token-type:jwt',
        scope: 'all-apis',
      });

      const response = await axios.post(token_exchange_url, formData, {
        headers: { 'Content-Type': 'application/x-www-form-urlencoded' },
        timeout: 30000,
      });

      const access_token = response.data.access_token;

      if (!accessToken) return { success: false, message: 'Invalid Credentials' };

      const api = `https://accounts.gcp.databricks.com/api/2.0/accounts/${databricksAccountId}/workspaces`;
      const headers = {
        Authorization: `Bearer ${accessToken}`,
        'Content-Type': 'application/json',
      };

      const response = await axios.get(api, {
        headers,
        timeout: 15000, 
      });

      const workspaces = await response.data.map((workspace) => {
        return {
          workspaceId: workspace.workspace_id,
          workspaceName: workspace.workspace_name,
          regionName: workspace.location,
          workspaceUrl: `${workspace.deployment_name}.gcp.databricks.com`,
          workspaceTier: workspace.pricing_tier,
        };
      });

 I have attached the code if i am done any mistake in the code kindly lent me know and tell me a solution for this issue. 

You might want to check whether the issue is related to your federation policy configuration.

Try reviewing the following documentation to confirm that your policy is correctly set up (issuer, audiences, and other expected claims):

https://docs.databricks.com/gcp/en/dev-tools/auth/oauth-federation-policy