Undergravel filters can still work fine for a 20-gallon tank if you set them up right, though they're definitely old school compared to hang-on filters. The main advantage is that they use your entire substrate as the filter media, which gives you decent biological filtration. The downside is they're a pain to clean without disturbing everything, and you can't easily adjust flow rate or add media like you can with modern filters.
If you want to use it, here's the basic setup. You'll need to remove everything from the tank first. Lay the undergravel filter plate flat on the bare bottom - it should cover as much of the tank floor as possible. Attach the air pump or powerhead to the uplift tube (the vertical pipe). If it came with an air pump, you'll run an airline from the pump to the tube. If it has a powerhead, that's an electric motor that sucks water up instead. Then spread your gravel or substrate over the whole plate - you need at least 2-3 inches to get proper water flow through it. The filtered water comes back down through the substrate and returns to the tank at the top of that uplift tube.
Honestly though, for a 20-gallon tank today, a simple hang-on filter or small canister filter is going to be less of a hassle. You get better water flow control, easier maintenance, and you don't have to tear apart your whole setup when you want to do a gravel cleaning. If the undergravel system came free with the tank, it's worth trying if you don't mind the extra work, but don't feel obligated to use it. A basic hang-on filter does the job just fine and lets you actually enjoy the tank without constant fiddling.