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Key pre-distribution has been claimed to be the only viable approach for establishing shared keys between neighboring sensors after deployment for a typical sensor network. However, none of the proposed key pre-distribution schemes simultaneously achieves good performance in terms of scalability in network size, key-sharing probability between neighboring sensors, memory overhead for keying information storage, and resilience against node capture attacks. In this paper, we propose SBK, an in-situ self-configuring framework to bootstrap keys in large-scale sensor networks. SBK is fundamentally different compared to all key pre-distribution schemes. It requires no keying information pre-deployment. In SBK, sensors differentiate their roles as either service nodes or worker nodes after deployment. Service sensors construct key spaces, and distribute keying information in order for worker sensors to bootstrap pairwise keys. An improved scheme, iSBK, is also proposed to speed up the bootstrapping procedure. We conduct both theoretical analysis and simulation study to evaluate the performances of SBK and iSBK. To the best of our knowledge, SBK and iSBK are the only key establishment protocols that simultaneously achieve good performance in scalability, key-sharing probability, storage overhead, and resilience against node capture attacks.