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I solved it by writing a java class and imported into nodejs using node-java package.

Java package

package com.nearinfinity.nodeJava;

import java.io.*;
import java.util.Base64;
import java.security.spec.PKCS8EncodedKeySpec;
import java.security.*;
import javax.crypto.EncryptedPrivateKeyInfo;
import javax.crypto.SecretKeyFactory;
import javax.crypto.spec.PBEKeySpec;

public class EncryptedPrivateKeyDecode {
    public PrivateKey getPrivatekey(String [] args)
             {
        try {
            if (args.length == 0) {
                throw new NullPointerException("the encoded parameter " +
                        "must be non-null");
            }
            // Please change the path to your pem file
            File f = new File(args[0]);
            FileInputStream fis = new FileInputStream(f);
            DataInputStream dis = new DataInputStream(fis);
            byte[] keyBytes = new byte[(int) f.length()];
            dis.readFully(keyBytes);
            dis.close();

            String encrypted = new String(keyBytes);
            String passphrase = new String(args[1]);
            encrypted = encrypted.replace("-----BEGIN ENCRYPTED PRIVATE KEY-----", "");
            encrypted = encrypted.replace("-----END ENCRYPTED PRIVATE KEY-----", "");
            EncryptedPrivateKeyInfo pkInfo = new EncryptedPrivateKeyInfo(Base64.getMimeDecoder().decode(encrypted));
            PBEKeySpec keySpec = new PBEKeySpec(passphrase.toCharArray());
            SecretKeyFactory pbeKeyFactory = SecretKeyFactory.getInstance(pkInfo.getAlgName());
            PKCS8EncodedKeySpec encodedKeySpec = pkInfo.getKeySpec(pbeKeyFactory.generateSecret(keySpec));
            KeyFactory keyFactory = KeyFactory.getInstance("RSA");
            PrivateKey encryptedPrivateKey = keyFactory.generatePrivate(encodedKeySpec);

            return encryptedPrivateKey;
        } catch (Exception e) {
            e.printStackTrace();
        }
        return null;
    }
}

Node code

const java = jinst.getInstance();

 const EncryptedPrivateKeyDecode = java.import(

 'com.nearinfinity.nodeJava.EncryptedPrivateKeyDecode'

 );

 const privateKey = new EncryptedPrivateKeyDecode().getPrivatekeySync([

 privateKeyPath,

 privateKeyPassphrase

 ]);

and now we can use this privateKey in node-jdbc package