Hello,
Sure! You can find the information in the "Abilities" section in the Pause Menu. It shows "LB" with controller, and "Q" for keyboard. Press once the button to activate teleport, aim with stick or mouse, then press the same button to throw the lightning, and again the same button to teleport to.
I kindly propose you to try again, explore with Teleport, and fight the Boss!
Cheers