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Hardware tokens are most basic way of authenticating.
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Authenticate Using a Hardware Token
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Click Enter a Passcode
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Press the button on your hardware token to generate a new passcode
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Type the passcode into the space provided
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Click Log In (or type the generated passcode in the "second password" field)
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Authenticate Using a Yubikey Token
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Click Enter a Passcode
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Click into the passcode entry field
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Tap your Yubikey to generate and submit a passcode