How to find Euler angle using 3d points

I want to find the Euler angle using two 3d points say a1 = [x1,y1,z1] and a2 = [x2,y2,z2]. From my understanding, I need to find a rotation matrix using this I can able to get a Euler angle. I referred a few links on finding Euler angle using 2 3d points but I didn’t get the expected results. Is there a way to find the Euler angle using three.js with 2 3d points.

It seems your question is a duplicate of:

The exact steps are already outlined in the respective answer.

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