Integrating asterisk and kamailio using PJSIP

I have successfully done the integration of asterisk with kamailio using below link

and i have realtime PJSIP running on asterisk with few endpoints configured in mysql DB.

When i try to register endpoint it gets registered but in asterisk i get 401 Unauthorised on register forward request of kamailio.

In the above document there is one statement,

" Be sure you configure Asterisk to not authenticate SIP requests coming from Kamailio."

which i think might solve my problem but i am not aware of how to do it.

Can someone help me achieve this Thanks in advance.