Hardware tokens are most basic way of authenticating.
Click Enter a Passcode
Press the button on your hardware token to generate a new passcode
Type the passcode into the space provided
Click Log In (or type the generated passcode in the "second password" field)
Using the "Device:" drop-down menu to select your token is not necessary before entering the passcode.
Click into the passcode entry field
Tap your Yubikey to generate and submit a passcode
Tokens can get "out of sync" if the button is pressed too many times in a row and the generated passcodes aren't used for login.