How do you setup the equivalent of Cisco DHCPD on an Trusted Layer 3 interface

[dnagin]

How do you setup the equivalent of Cisco DHCPD on an Trusted Layer 3 interface of a Palo Alto Appliance

We have remote Cisco VPN  sites we are looking at converting to Palo Alto VPN Sites

I need to be able to assign IP addresses to workstations at Remote sites even if there is no connection to the Far end of the Site to Site connection.

[HULK]

Few related discussion on the forum, it might help you.

Dhcp

How To Configure DHCP Server in PAN-OS 4.1

How to Configure a DHCP Relay on Palo Alto Networks Firewall

CLI Commands to troubleshoot DHCP

How to Check the DHCP logs?

You may share your network diagram here for better understanding.

Thanks