Hello Niyas,
you need to untagg the ports for data vlan, and tagg the ports for voice vlan.
the voice end point needs to send the vlan id. If you use the 210 serie, then you need a additional L3 device (firewall, router) to route between the 2 vlan's, if you use the 220 serie, this is a L3 switch and can route between the two vlan's.