Hi,
Welcome to the forum! Aren't you glad Houdini is not the same as the rest?

However, I agree documentation in this area is certainly lacking. I was also hoping it will be straightforward & easy to tell you how to set this up but it's a lot more involved.
First, let's use the Simple Displace material which you can find under the Material Palette. Click and drag it onto the Object you want to apply the shader. If you render now, the Object will have displacement applied, which if it works for you, you can stop reading.

Next, go to the Object's parameters & look for the Gear icon in the top right. Click on the icon, select “Edit Rendering Parameters…” and a window will open. Type “true” in the left Filter parameter, expand Mantra 9.1 folder and you will see True Displacements. Select the parameter, click on the Right arrow in the middle then Accept. I've attached a screen capture.
The True Displacements parameter can be found under the Render > Shading tab of the Object. Again, please see attached. Now, uncheck the True Displacements toggle and render again for bump mapping instead of displacement.
I've attached a simple hip file and a render comparison.

Hope the above helps!
Cheers!
steven