Did you enter direct debit information with your return? That is, did you give the IRS permission to take the tax due directly out of your checking account?
If so, the IRS will take care of the payment; the only thing you need to do is make sure there is money in the account on the date of the direct debit.
If you did not set up direct debit, then you will have several ways to pay what you owe. Please see this IRS webpage on the different ways that you can pay them.
As you already understand, there is no requirement to send the payment with your return - your Social Security number ties your payment to your return.
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