Cognito Integration

I’m currently using Cognito user pool to login to my app, now thing is I need to share sessions with third party integrations, so that is why I decided to move forward using auth0 as IdP.
Now after make SAML server integration, I need to map SSO login with my existing users on Cognito user pools, I followed this tutorial Set up Auth0 as a SAML identity provider with an Amazon Cognito user pool. Now everytime I login through Auth0 instead of map with an existing user, Auth0 creates new user on Cognito User Pool with ‘auth0_’ prefix on it.
If anyone could provide some help on this, would be very appreciated. Thanks in advance!