Various applications of Internet of Things (IoT) are being developed for the healthcare domain. This chapter proposes a very simple mutual authentication protocol, which provides strong location privacy using hash function, pseudo-random number generator, and bitwise operation. IoT devices are needed to be protected from a wide range of threats, which include malware infections, disruption of services, and information theft. The attacker could easily gain control of the devices that are a part of smart home, automobiles, personal fitness and disease-monitoring gadgets. IoT-based healthcare systems are networks containing devices that are interconnected and perform sharing and processing of a significant amount of data. The main aim behind the integration of IoT with healthcare is to provide healthcare facilities to anyone at any place. The developments in IoT such as fully automated device identification and tracking and monitoring of patients in real time are helping to deliver quality healthcare services.