The peers authenticate, either by certificates or via a pre-shared secret. (More authentication methods are available when one of the peers is a remote access client.)
A Diffie-Hellman key is created. The nature of the Diffie-Hellman protocol means that both sides can independently create the shared secret, a key which is known only to the peers.
Key material (random bits and other mathematical data) as well as an agreement on methods for IKE phase II are exchanged between the peers.
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