Control D can be configured on most routers with variable degrees of ease, depending on what DNS protocols your router supports, and whether you have a Static IP or not.

Secure DNS

If your router natively supports DNS-over-HTTPS or DNS-over-TLS, this is the easiest (and best) option. Simply input your Device's DNS resolvers into the router interface and you're done. This is the best and prefered method of using Control D, as it's not subject to any of the Legacy DNS limitations.

Unfortunately, most routers do NOT support Secure DNS natively, in which case you have to use the other methods documented below.

Legacy DNS

Most routers do not support Secure DNS protocols, so you're going to have to use Legacy DNS IP addresses associated with the Device you've created in the web panel (be sure to enable the Legacy Resolver Device setting).

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Dynamic IP Warning

This method is subject to your source IP being registered on this Device in the web control panel, so this is best suited for networks with a static IP. If you have a Dynamic IP see Legacy DNS limitations section for solution.

DNS Proxy Daemon

If your router is on a dynamic IP address, or if you wish to use Secure DNS protocols anyway (you really should), you can use the open source Command Line Daemon in order to do this.

Simply download and run the binary that is appropriate for your router architecture, and follow the instructions in the README on Github.