In the Instant Pot, set the timer to 120 minutes at High. Push the button and go enjoy life. When it beeps, let the pressure release naturally. (you could probably rush it and quickly release the pressure but I think that extra time gives it a bit more flavor.)
If you are making it in a slow cooker, cook on low for 8+ hours. If cooking on the stove, simmer for at least 2 hours but I have been known to simmer it overnight at times.