In an authentication system, a key registration apparatus receives input of an identifier unique to a second device, generates first key data from the identifier according to a predetermined key generation algorithm, and transmits the generated first key data to a first device, which receives and stores the first key data, and authenticates the second device with use of the first key data. The second device stores in advance second key data generated from the identifier according to the predetermined key generation algorithm, and is authenticated by the first device with use of the second key data. Accordingly, the first and second devices cannot be registered without using the key registration apparatus, thereby preventing communication with unregistered devices. This enables usage of content to be limited to individual usage in the home of a user, and can be realized even with devices that are not connected outside the home.