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Login in customer community via corporate website

Dear All,
I need one help from Architects/Developers regarding community SSO.I have a requirement where my customer should be logged it to the community directly 
I have a corporate website for customers and there is a link on that site which opens up the Salesforce customer community so if the customer is logged in the corporate website, he should not be asked to log in again in the community. 

How can we meet this requirement? Do we need to use Single SIgn on here?

Mayank Jain