Email Incoming - Email in relevant Contact/Account History subpanel

Hi there guys and girls
I’ve read a couple of posts where others have asked this same question but I haven’t seen a solution yet that explains how to get it working so can someone pls tell me how I set up the incoming emails so they find their way to the history subpanel within the Contact or Account the email was intended for?

More specifically, if Somebody sends an email to me or any of the users? or does it only work if it is sent to a group? or is there some other way I am missing altogether?