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Authenticated key agreement protocol is used to provide data confidentiality and integrity to subsequent communications among two or more parties over a public network. Certificateless public key cryptography (CL-PKC) combines the advantage of the identity-based public key cryptography (ID-PKC) and the traditional PKI. In this paper, we present a secure and efficient two-party authenticated key agreement protocol based on the certificateless encryption scheme due to Libert and Quisquater. Security analysis shows that it achieves perfect forward secrecy, PKG forward secrecy and almost all the other known security attributes, such as known-key secrecy, key-compromise impersonation resilience, unknown key-share resilience, known session-specific temporary information security, message independence and no key control. Compared to other comparable schemes, it is more secure and efficient.