The standard way would be to use the MCUXpresso IDE and use the GUI Flash tool to erase, program and recover the device if needed.

But this basically requires the that device is supported by the NXP MCUXpresso SDK, and the 50 MHz K20DX128 is not.
The legacy devices are supported with the NXP Kinetis Design Studio V3.2.0. In KDS you have the 'Flash from File' functionality:

which you can use to program a file to the target.
OpenOCD does not support the Kinetis devices well, so I recommend you go with the LinkServer (LPC-Link2, but this is not supported in KDS), or with a P&E or SEGGER debug probe (which you already have).
If you want to do things on the command line, I wrote a few tutorials on this:
Command Line Programming and Debugging with GDB | MCU on Eclipse
Tutorial: MCUXpresso SDK with Linux, Part 2: Commandline Debugging with GDB | MCU on Eclipse
If it is about unlocking a device, there is as well the way to use the J-Link commander, have a read at
Unlocking and Erasing FLASH with Segger J-Link | MCU on Eclipse
I hope this helps,
Erich