Place all VSS/A2/A1/A0 to GND of the ESP, VDD to 3.3V VCC, add 4K7 PullUps to RES/SDA/SCL pins, and connect SDA to GPIO0 and SCL to GPIO2.
Then, you can use Adafruit_MCP23017, as is if I remember, and initialize it in you sketch with Wire.begin(0, 2) and Adafruit_MCP23017 mcp; along with mcp.begin()