If it's feasible for you, I've found SSL peer certificate-based authentication to be a good solution.
I guess you can add all sorts of other authentication over the top of that (eg: passwords, session tokens, etc), but no passer-by is really going to be able to get past the SSL request authentication stage.
I use openssl + a perl script to generate my client certificates... the attributes are formated so that they're both human readable (by the customer's web-browser) and so that they contain a (secret) ID which my code can look up in the database.
-David
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