You may also want to look at the Gluu Gateway product if you need an API gateway.
If you are looking for for a Web proxy ("reverse proxy" is an old term that's not used much any more), you can use the proxy features of Apache or Nginx (as Alex suggests). Although I wouldn't use the apache server in the Gluu Server itself... I'd setup a standalone server. In that server, you can install modules like the mod_auth_openidc for OpenID, lua-resty-openidc for Nginx, or even the shibboleth SP (if you want to use SAML instead of OpenID Connect). In those platforms you can require that the person is authenticated, and send the details in the HTTP headers to the upstream application.
When [my book](https://apress.com/us/book/9781484226001) comes out, chapter 6 is on Proxying.