Connect Kubernetes metrics to Existing Prometheus which is outside where Kubernetes is installed

Hi,
I want to monitor Kubernetes by using my external existing Prometheus. Can this be done. I tried a lot of ways as got online but none worked as docker, containerd, or CRI-O are not present in my RHEL server. Kindly note my server is also not internet connected but just by intranet. I can download things and transfer to the server.