SAML - Okta Integration

I am trying to use Okta for SSO. It goes into a indefinite loop. I have tried various config options but none of them seem to work. the SSO url that I am using is **http://{your-sugar-url}/index.php?module=Users&action=Authenticate

I am unable to use SSO as a result of that. I see someone else was also having similar issues. Please let us know if there is any solution. If you can point me to the specific config, that would be greatly appreciated.