...
Open a terminal window.
$ sudo openconnect swatvpn2.swarthmore.edu/ShibSSO
Accept the certificate, even with the error "signer not found".
Enter your username, password (first PASSCODE prompt), and "push" without the quotes (at the second PASSCODE prompt, used for DUO 2FA prompt).
Once DUO has successfully completed, it will finish connecting and show "
Connected as 130.58.#.#, using SSL
"Leave terminal open to maintain the VPN connection. Use web browser or another terminal window to access the network via the VPN tunnel.
CTRL-C to end the VPN session.
...