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In today's world, the use of computer networks is everywhere, and to access the home network we use the Internet. IoT networks are the new range of these networks in which we try to connect different home appliances and try to give commands from a remote place. Access to any device over an insecure network invites various types of attacks. User authentication can be performed using some password or biometric technique. However, when it comes to authenticating a device, it becomes challenging to maintain data security over a secure network such as the Internet. Many encryptions and decryption algorithms assert confidentiality, and hash code or message authentication code MAC is used for authentication. Traditional cryptographic security methods are expensive in terms of computational resources such as memory, processing capacity, and power consumption. They are incompatible with the Internet of Things devices that have limited resources. Although automatic Device-to-Device communication enables new potential applications, the limited resources of the networks' machines and devices impose various constraints. This paper proposes a home device authentication scheme when these are accessed from a remote place. An authentication device is used for the home network and controller device to control home appliances. Our scheme can prevent various attacks such as replay attacks, server spoofing, and man-in-the-middle attack. The proposed scheme maintains the confidentiality and authenticity of the user and devices in the network. At the same time, we check the system in a simulated environment, and the results show that the network's performance does not degrade much in terms of delay, throughput, and energy consumed. [ABSTRACT FROM AUTHOR]