Systems and methods are described for establishing credentials at a device and at a device management server for the purpose of exchanging secure credentials in order to mutually authenticate the device and the server. A credential generation algorithm is described which uses a plurality of seeds, including the hardware identity of the device, the server identity, and a shared private key, to generate two sets of credentials, one to be used by the device and the other to be used by the device management server. The credentials are exchanged between the device and the server during any session, thereby assuring mutual authentication.