He didn’t specifically instruct people to go to the capitol, he said ‘We’re going to walk down Pennsylvania Ave...going to the Capitol’ .and ‘So, now, let’s walk down Pennsylvania Avenue...’
but at no time did he suggest rioting or anything like what happened.
The implication was that the people should let their Republican representatives know their concerns.
It was at the very end of the speech, beginning at about 70:00:
Some people who left before the end of the speech and went to the Capitol said there were bad actors already there, before Trump even made that innocuous statement.
Trump wisely delated his White House speech by a half hour or so to interfere with the timing of the plan concocted in advance by the false flaggers/entrappers/bad actors and leave them hanging and exposed toward the end of his speech. If they were true MAGA folks they wouldn’t have missed that speech/ralley.