How can I bake color from a high poly mesh to low poly mesh?

I have been given a HP mesh in zbrush and I took additionaly steps to Zremeshed it to decrease it's polycount and exported it as LP.
With the highpoly mesh I was given a color map. I for the life of me feel really rediculous be cause I can't find any solution online on how to bake a COLOR MAP on HP  to COLOR MAP on LP. 

HELP... Please. The resources I have with me, Zbrush, Substance Painter and Designer. Is it possible?

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