A method, system, token and scanning device for gesture-based security are provided. The token includes an information storage module such as an RFID system or a microchip system of a contactless smart card, and a fiducial marker of the token, such as a unique optically recognizable pattern. The token scanning device includes a detection module configured for retrieving details from the information storage module, a motion tracking module for tracking a trajectory of the fiducial marker relative to the scanning device, and an authentication module for authenticating the token if the tracked trajectory matches sufficiently to a reference trajectory associated with the token. A user can authenticate a usage of the token such as a financial transaction by gesture-based motion of the token to match the reference trajectory.