Below are the dependencies added
<dependency>
<groupId>org.camunda.bpm.springboot</groupId>
<artifactId>camunda-bpm-spring-boot-starter</artifactId>
<version>3.1.1</version>
</dependency>
<dependency>
<groupId>org.camunda.bpm.springboot</groupId>
<artifactId>camunda-bpm-spring-boot-starter-rest</artifactId>
<version>3.1.1</version>
</dependency>
<dependency>
<groupId>org.springframework.boot</groupId>
<artifactId>spring-boot-starter-jdbc</artifactId>
</dependency>
<dependency>
<groupId>com.h2database</groupId>
<artifactId>h2</artifactId>
</dependency>
<dependency>
<groupId>org.camunda.bpm.springboot</groupId>
<artifactId>camunda-bpm-spring-boot-starter-webapp</artifactId>
<version>3.1.1</version>
</dependency>
<dependency>
<groupId>org.postgresql</groupId>
<artifactId>postgresql</artifactId>
<version>42.2.4</version>
</dependency>
and below are the props in application.properties
camunda.bpm.database.type=postgres
spring.datasource.url=jdbc:postgresql://localhost:5432/camunda
spring.datasource.username=sas
spring.datasource.password=
spring.datasource.driver-class-name=org.postgresql.Driver
camunda.bpm.database.table-prefix=camunda.
camunda.bpm.database.schema-update=true