how to install a Simulink library in Matlab?

I'm trying to install simscape multi-body contact force simulink library to make some simulation of a walking robot, but i don't know how to install the library in the matlab here is the link of the library:

https://www.mathworks.com/matlabcentral/fileexchange/47417-simscape-multibody-contact-forces-library

[Cam Salzberger]

Have you tried going through the steps here?

Answer 1

[Tushar Aher]

I have installed matlab 2019a i want to use simulink and antenna toolbox how to do that.