The existing handover authentication schemes have authentication delay and overhead of the authentication server since they have been separately studied handover authentication at the link layer and the network layer. This paper proposes a handover authentication scheme initiated by Mobile Node on FMIPv6 based mobile access networks. The main idea of the paper is to generate a session key at the mobile node side, and transfer it to the next Access Router through the authentication server. Also, the scheme has a hierarchical key management at access router. There are two advantages of the scheme. First, the generated session key can be utilized for protecting the binding update messages and also for access authentication. Second, hierarchical key management at the access router reduced the handover delay time. The security aspects on the against PFS, PBS, and DoS attack of proposed scheme are discussed.