Create a computer certificate template
Start->Run-> certtmpl.msc
Give the new certificate template a name, in my case, I named it Computer AutoEnroll
Now lets publish this certificate template
Start->Run-> certsrv.msc
Select the Computer AutoEnroll certificate template
Create the group policy for auto enrollment
Start->Run-> gpmc.msc
Computer Configuration->Windows Settings->Security Settings->Public Key Policies->Certificate Services Client Auto-Enrollment
Make sure the Authenticated Users or Domain Computers both have the Read, Enroll and Autoenroll permission since authenticated Users included all of the domain computers by default
Done, just using gpupdate /force command to push out the new policy. And you have to reboot the client computer to get the computer certificate since computer policy only take effect when the computer boot up.
After reboot, you can use the local computer certificate store to check your certificate: Start->Run->MMC->File->Add remove snap in->Certificate->Computer account
You can always using the new quick way I mentioned before in Windows Server 2012 or using the way here in Window Server 2008 by just Start->Run->certlm.msc
Create a user certificate template
Start->Run-> certtmpl.msc
Give it a name: User Auto Enroll
Make sure the Enroll subject without requiring any user input has been selected
Make sure the Authenticated Users or Domain Users has the below permission
Publish the new user certificate template
Select the User AutoEnroll certificate template
Create the group policy for auto enrollment
User Configuration->Windows Settings->Security Settings->Public Key Policies->Certificate Services Client Auto-Enrollment
Now run gpupdate /force and logout and log back in, check the user certificate store by Start->Run->certmgr.msc
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