Help using ps4 controller on xbox

I want to use a ps4 controller while I play on my xbox but it wont let me connect. I have my original controller plugged into the gamepad usb, the ps4 controller plugged into the keyboard usb, and both power connections are plugged into my console (both ports on the back). The original controller works fine, but the ps4 controller will flash orange and wont let me use it. Please help