Hi Vikash,
go to http://mcuxpresso.nxp.com/, create configuration for TWR-K21F120MA for KDS toolchain; generate SDK package in SDK builder and download the package and unzip. USB stack middleware is included by default.
Start KDS 3.2. Import example project using File - Import - General - Existing project into workspace
As root directory select "boards\twr21f120m\usb_examples\".
Ensure "Copy projects into workspace" is NOT selected.
Click Next and select any of the USB example projects.
Build, Run and customize the example project.
Regards
Marek