Initial set up

Could possible do both. Someting you'll need to ask your ISP about as some ISPs may differ on there requirements on what can be connected to there main debarcation terminal for there services to your home. 

IF there is a router at the ISP point,  This would be a double NAT (two router) condition which isn't recommended. https://kb.netgear.com/30186/What-is-Double-NAT
https://kb.netgear.com/30187/How-to-fix-issues-with-Double-NAT
Couple of options,
1. Configure the modem for transparent bridge or modem only mode. Then use the Orbi router in router mode. You'll need to contact the ISP for help and information in regards to the modem being bridged correctly.
2. If you can't bridge the modem, disable ALL wifi radios on the modem, configure the modems DMZ/ExposedHost or IP Pass-Through for the IP address the Orbi router gets from the modem. Then you can use the Orbi router in Router mode.
3. Or disable all wifi radios on the modem and connect the Orbi router to the modem, configure AP mode on the Orbi router.
New: https://community.netgear.com/kb/en-orbi-knowledge-sharing/static-ip-address-configuration-for-ap-mode/2456256
https://community.netgear.com/t5/Orbi-WIFI-6-AX-AND-Wi-Fi-6E-AXE/Procedure-for-Factory-reset-of-RBS850/m-p/2367505/highlight/true#M53985
https://kb.netgear.com/31218/How-do-I-configure-my-Orbi-router-to-act-as-an-access-point and https://www.youtube.com/watch?v=H7LOcJ8GdDo&app=desktop 
Try option #2 first...
https://kb.netgear.com/000061277/Which-features-are-disabled-on-my-Orbi-router-when-it-is-set-to-AP-Mode

If you deploy a orbi system then you would want all your devices connected to the orbi system so all devices can get connected on same system and communicate with each other with out interuptions.