As a Courier, how can I leave packages at peoples doors if they're not home?

[MedrusGaming]

I was basing earlier and ordered a package, when I got a text (I was well out of reach for the courier to drop the package for me outside the door) and the text said something like "your package has been delivered at your door" and by the time I opened the door, the courier was gone. I don't know how he did it but I want to so that when I play courier I can do it lol. How?