A method authenticates a group driving service of a moving object. The method includes authenticating the moving object when an authentication request for the registration of the group driving service is received from the moving object, generating a certain group having group driving service registration information based on group driving registration information when a registration request for the group driving service is received from the moving object, the registration request including the group driving registration information, and transmitting the group driving service registration information of the certain group to the moving object.