I saw the following command log in /var/log/audit.log on the internal server

2024-07-08_23:05:10 --- <username> pts/2 (10.220.200.2) --- 1000 --- less /var/log/message
...

I would like to implement this feature on my server to find commands or check for illegal actions.
I looked up some information, but found that it did not fully meet my needs.

How do I set up to achieve the form recorded in the example above?