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sending encrypted soap message using http call to other system

Here I have a case I want send an encrypted soap message using an http/outbound message to external system for authentication,what is the best way to approach it.
Are you looking to send this encrypted data as a field in your SOAP call?  If so I'd recommend using the built in Crypto class [1] with a shared key.  You can store this shared in a custom setting and pull it at encryption time.  This would allow you to easily change the encryption key as well as have different encryption keys for non-production testing environments.

That's the best I can do to help you.  I've never done it but the AES* protocols that the Crypto library supports should be availalble on most platforms like Heroku.

[1] https://www.salesforce.com/us/developer/docs/apexcode/Content/apex_classes_restful_crypto.htm

Additional Reading: https://developer.salesforce.com/page/Apex_Crypto_Class
Hi also never used crypoto class
I am trying to send  salesforce federated id  in a http call the body contains soap message,they message need to be encryped the proxy decrypt and send back an encrypted response,that response should be decrypted.

Well you'll need to find a cypto call that both endpoints can use and have a shared key.  Then you'll send the http call out like normal but with the encrypted body.  This is not a trivial thing to do and without more information about the endpoint and data structure you are using, there is little I can do.