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Commerce supports manual captures for authorized payments. The prerequisite for a manual capture is that the payment has been authorized (status authorized) and the flow automation is not automatically capturing the payment. Each payment has a processing flow associated with it. The processing flow is defining how a payment is authorized with the processor. There are fundamentally two ways to process the payment:

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Automatic Capture

In case of an automatic capture flow, the payment is virtually skipping the authorized state and moves to captured directly. Virtually means in this context, that the payment is remaining in the state processing while it is already authorized and waiting that the capture completes. A manual capture is not possible in such a setup.
Two-step processing: authorize then capture

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Manual Capture

In the world of Commerce flows, the processing is a sequence of transactions which transition a payment from its open state to either authorized or captured state. In order to allow a manual capture, the flow must stop the processing after successful authorization. The following flow graphs shows the simplest possible design for it:
One-step processing: authorize then manual capture
The payment will be in authorized state in case of a success, and is ready to receive a manual capture call.

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Request

Find the API documentation for the request here. 
POST /payments/{payment_id}/capture
The payload for this request is very simple as it actually only requires a reference in case a full capture is intended. In case a partial capture is requested, the corresponding amount and currency_code has to be given. Partial Capture Request Body 
{
  "amount": 800,
  "currency_code": "EUR",
  "reference": "Partial capture order #12345"
}
Commerce does not support multiple captures.

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Response

In response to the capture request the payment will be in capturing state until it is either captured or failed. 
{
  "id": "54ba1fdb-7e4e-402b-aebb-66f9d5345cf8",
  "amount": {
    "requested": 1000,
    "authorized": 1000
  },
  "created_at": "2023-10-10T00:00:00Z",
  "currency_code": "EUR",
  "flow": "e-commerce flow",
  "reference": "Order #12345",
  "status": "capturing",
  "source": {
    "type": "card",
    "cardholder_name": "Bob Holder",
    "expiry_month": 12,
    "expiry_year": 2030,
    "masked_account_number": "424242XXXXXX4242",
    "pan_type": "FPAN"
  },
  "use_case": "ONE_OFF"
}
When the capture is completed, successfully the payment will show the respective amount in its payload: 
{
  ...,
  "amount": {
    "requested": 1000,
    "authorized": 1000,
    "captured": 800
  },
  "status": "captured"
}