Denny Cherry explains how to integrate Azure VMs with your existing Active Directory domain:
The first step is to put some domain controllers in Azure. To do this, you’ll need a site to site VPN between Azure and your on-premises environment. If you have multiple on-premises sites, then you’ll want to create a VPN between Azure and all your on-premises environments. If your Azure environment is hosted in multiple regions, then you’ll want to create a mesh network when each on-premises site in VPNed into all of your vNets. You’ll probably also want your vNets VPNed to each other (Peering of your networks between sites may be an option as well depending on how you’ve set things up). If you have an extremely large number of users at your site, then Express Route might be something worth looking into instead of a site to site VPN.
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