Hello, each Nucleo board is equipped with STLinkV2-1 which has built in virtual COM port (in fact you can see STLink as 3 USB devices: debugger, mass storage and virtual COM port). From the other side USART2 (PA2, PA3) of STM32F401RET on the board is connected with STLink chip. There is no need to perform further modifications. You just connect Nucleo board to PC, then within terminal application please select proper COM number (usually there is an information that it is related to STLink) and you can use it as terminal of the UART from the MCU on your board.
More information you can find within Nucleo user manual, i.e:
https://www.st.com/resource/en/user_manual/um1724-stm32-nucleo64-boards-mb1136-stmicroelectronics.pdf
In case your STLink drivers has not been installed you can use the following driver pack:
https://www.st.com/content/st_com/en/products/development-tools/software-development-tools/stm32-software-development-tools/stm32-utilities/stsw-link009.html
