[tpm2] How to decrypt a symmetric key in the TPM that was wrapped by an asymmetric key generated by that TPM

My client host that has the TPM generates a key pair and sends the public key to the server. The server generates a symmetric key that is encrypted by the public key it received and sends the result to the client.

I can do decrypt operation to retrieve the symmetric key. How to decrypt the key but keep it in the TPM for a subsequent encrypt/decrypt operation?

Thanks!