Microsoft has partnered with Discord to enable connectivity between the PC and Xbox One. Players will be able to link their Discord account to Xbox Live to see what friends are playing on the console and PC. Of course, you will be allowed to jump directly into the matches if possible.
The feature will be available to all users in the coming weeks. Xbox Insiders will be able to test the feature soon. Incidentally, the link to the Discord profile is the same as with other social media applications (Facebook, Twitter, etc.).