Power BI in connection with Dynamics NAV

I want to see my reports directly in Dynamics NAV. I know that it is possible to combine these two systems in the option with Dynamics 365 Business Central on cloud and user can see reports from Power BI in Dynamics 365 Business Central.

How can I do this in the oldest version on-premises Dynamics NAV, I mean oldest than 2017? How can I connect Power BI with Dynamics NAV form the technical point of view? The most important thing for me is to see reports from Power BI directly in Dynamics NAV.