Kubernetes pod as target

I have a running setup of boundary inside k8s. I could setup a service as a target and from boundary client I could connect to that service. I am using boundary version 0.6.2 both on server and client side.

Now I want to setup a target to a pod so that client can do exec into that pod. How to setup the host and target?

Can someone give me an example on how to do boundary connect kube with exec?