How to install OpenGL drivers on Ubuntu server

I have a mostly set up headless install of Ubuntu server, but I now want to install OpenGL drivers and run Xorg with opengl to run some dashboard application. How can I install the necessary packages (what are the OpenGL packages) and how do I configure X to use the hardware acceleration?

The SoC does not support OpenGL. Only OpenGL ES 2.0. The server images are configured with it already for Xorg.

Thanks for clarifying.