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How to authenticate external application endpoint URL in Salesforce

Hello all,
I want to integrate Magento(e-Commerce) Orders with Salesforce for this i have a public endpoint url, but i need to authenticate the magento system in salesforce, i have created user in magento & i have username, api key how to authenticate in salesforce and how to get orders in salesforce programatically step by step process,
please any one help.


Thanks,