It’s possible to do this on a PC providing the game you’re playing supports inputs from multiple controllers (most modern sim racing titles do). Just connect the pedals as well as your wheel and then make sure that you've configured the pedals for the gas, brake, and clutch functions in the game that you’re playing, using its control settings screen.

On a console, use of the Logitech G Racing Adapter is required to adapt the USB pedals to the serial port connection used on the G29/G920/G923. The Logitech G Racing Adapter can be purchased from the Logitech G website.