What is an Auth Code?
An authorization code or, domain key is used to prevent domains from being transferred without your approval.
In order to transfer your domain, you will need to sign into your current domain administration area in order to request a key to be emailed to you.  Also be sure to UN-LOCK your domain.  The domain will not transfer in Locked mode.
Note:  Your registrar may have an alternate method of delivering the auth code to you.
Once the email has arrived, simply use that key in the transfer form provided to initiate the transfer process.
That is it!