We want to authenticate user in our mobile application against a Domino server configured with LDAP. We have read some other articles and know that it is possible to authentication using username and password in the URL.
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The articles you linked to are not about LDAP authentication. They are about authentication via HTTP requests. You can certainly do that, but it isn't LDAP and you'll have to know more about the Domino server configuration. For instance, you'll have to know if the Domino server is actually running the HTTP task, if it is, you'll have to know what authentication methods are configured for it.
If you want to do LDAP authentication, and if the Domino server is actually running the LDAP task, then Domino LDAP works the same way that other LDAP servers work. You open an LDAP connection to the server using a DN that identifies the user, and you send the password with the bind request. Your mobile toolkit probably provides tools for this.