You can create an API Gateway Endpoint with Integration type: AWS Service
and set it up to invoke the required Step Function.
In case you want to use API Gateway so that you can control the exposure of your Step Functions endpoint, you can create a new IAM user (programmatic access only) with a policy that only grants access to this endpoint, eg:
{
"Version": "2012-10-17",
"Statement": [
{
"Effect": "Allow",
"Action": [
"execute-api:Invoke"
],
"Resource": [
"arn:aws:execute-api:us-east-1:my-aws-account-id:my-api-id/my-stage/GET/my-resource-path"
]
}
]
}