Follow steps below:
1. For Adding an ESXi Host to the vCenter Server Inventory log in to vSphere Web Client with typing your vCenter ip address(https://<your ip address>:9443/vsphere-client) on Web browser and click “vCenter“:
2. And then click Hosts and Clusters:
3. Right click on vCenter server and click New Datacenter… to create Create Datacenter
4. Type Datacenter name and click OK:
5.Right-click the Datacenter object, and select Add Host:
6. In the Host name or IP text box, type your ip and click Next:
7.Type the user name and password for the ESXi host, and click Next:
8. Click Yes on security alert page:
9. If you have license assign license otherwise click next:
10. Select your datacenter and click next:
11. Click Finish to complete :
12. On the Recent Task windows you see process adding host and when it completed your host appears in the inventory: