Based on security parameters previously agreed upon by first and second communication devices, a first security value is determined by the second communication device and transmitted to the first communication device. The first communication device determines second and third security values based on the security parameters and the first security value and transmits the second and third security values to the second communication device. The second communication device determines a fourth security value based on the security parameters and, if the second security value matches the fourth security value, authenticates the first communication device. Upon successful authentication of the first communication device, a shared key is determined by both communication devices based on the third security value and the security parameters.