Linux IPv6 HOWTO (en)
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Chapter 20. Encryption and Authentication

Table of Contents
20.1. Modes of using encryption and authentication
20.1.1. Transport mode
20.1.2. Tunnel mode
20.2. Support in kernel (ESP and AH)
20.2.1. Support in vanilla Linux kernel 2.4.x
20.2.2. Support in vanilla Linux kernel 2.6.x
20.3. Automatic key exchange (IKE)
20.3.1. IKE daemon “racoon”
20.3.2. IKE daemon “pluto”
20.4. Additional informations:

Unlike in IPv4, encryption and authentication is a mandatory feature of IPv6. Those features are normally implemented using IPsec (which can be also used by IPv4).

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IPv6 security auditing Modes of using encryption and authentication