Hello there @contrerasroaca welcome to the community!
Yes, you can authenticate users through a specific organization ID by including the ID in the authorize request - The following FAQ should be helpful:
https://community.auth0.com/t/authenticating-users-through-a-specific-organization/84679
For example, if using React, you would need to leverage the authorizationParams organization parameter.
Aside from a rather manual approach to authorizing a user through a specific org ID, there currently isn’t any sort of out of the box support. However, this is something that is on the roadmap - Please see the following thread:
Hope this helps!