A key exchange system in which a shared key is generated for executing encrypted communication between communication apparatuses according to an authenticated key exchange protocol using ID-based encryption, wherein each communication apparatus includes a memory and a processor configured to generate a short-term private key by using a private key of the communication apparatus; generate a short-term public key of the communication apparatus by using the short-term private key; generate private information on the communication apparatus by using the short-term private key, a short-term public key generated by another communication apparatus, and public information generated by the communication apparatus and said another communication apparatus or public information generated by a key delivering center; and generate the shared key for executing encrypted communication with said another communication apparatus by executing a pairing operation using the private key of the communication apparatus and the private information.