Security must be provided in VANET as it is open to various attacks due to malicious vehicle, Brute force attack, misbehaving and faulty nodes, malicious users, and malicious nodes. The attacks can be occurred due to the lack of authentication. To overcome this problem, in this paper, we propose to develop a group key authentication and misbehaviour detection in VANET. Initially, we form clusters with three types of nodes within a certain transmission range namely Unique Node, Sub Unique Node, and Normal Node. Handshaking can be performed followed by message signing. The message is verified, and then group key is generated with subsequent key generation at each time slot. Finally, location information and time about vehicles can be used to detect malicious behaviours. Simulation results show that the proposed technique can achieve more packet delivery ratio with reduced delay, overhead, and packet drop.