We have had to do this for 1 application, but I don't remember if the Captcha was looking for text or for picture identification. In any case, we were not able to do it. In the end, we contacted the vendor, explained that we were using RPA on the application, and asked for a URL that would bypass the Captcha. In this case, they were using the Captcha to avoid unwanted bots, but our use case was valid and acceptable to them, and we are licensed users of their application. They agreed to give us a URL that goes directly to the login screen, and we were able to complete the automation.
Others on this site say they've had success with OCR reading text, but I think they were just lucky. Perhaps the font luckily happened to match the font the OCR was using. If true, I think these will fail if the site/application ever changes font or to a different type of Captcha. Captchas were developed specifically to deter robots; I think the best bet is to ask for a bypass URL. They might not give it to you, though.