First, is this a push or pull (or both)?
If the data is going from JIRA to the other system, then you need to think about when it's supposed to go, so you can set up an appropriate link. If, for example, it's on a change of issue status, you can use a web-hook. There's lots of other options.
In the other direction, your other system will need to update JIRA over the standard REST interface.
This is asimple example for what I need :
An employee will request for vacation from our erp system then the flow of this vacation will start in JIRA ( ex. Direct manager approvement)
At every step in jira we want our system be able to track this issue in order to see the flow of this issue
So your ERP system can use REST to read the data from JIRA, and it sounds like it might want to be creating issues as well - see https://developer.atlassian.com/jiradev/jira-apis/jira-rest-apis for how to create, view and update JIRA issues.
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