You have the option to use the 'Remember Me for 14 days' function in Duo. It will allow you to log in to your account without a prompt for your second factor for 14 days. To use the function, mark the 'Remember me for 14 days' checkbox and successfully authenticate with your second factor.
You will not be asked for a second factor for 14 days when you are on the computer using the browser you authenticated from.
If you want to cancel the 'Remember Me for 14 days' feature, clear the browser's cookies and cache and restart the browser.