Richard Mills discusses how DevSecOps enables continuous security in Agile development through integrating security tools and processes into CI/CD pipelines. He outlines essential categories of security tools, including static analysis, software composition analysis, vulnerability scanning, dynamic testing, and monitoring. These tools can run tests at various stages of the pipeline to catch issues early. Mills also stresses the importance of integrating security teams with development teams through structures like technical guilds to build a culture of security.