The advance of Internet and smart devices, which is often called Internet of Things (IoT), has made the interaction between virtual and physical worlds to be more seamless. IoT allows the information collected by smart devices to be transmitted to the people across the globe through Internet and enhancing people's lives in many aspects, such as health, energy, transportation, etc. In IoT, the communication between device-to-device or device-to-people very often go through different domains each having separate trust authority. Therefore, maintaining trust in the federated network of IoT is really important. However, IoT is vulnerable to numerous threats like tampering of information and key distribution issue, while considering the constraint in its resource. This paper proposes a method to secure communication that manages trust of IoT in federated fashion while minimizing usage of resources in IoT devices. Other aspects of loosely/tightly coupled network federation, dynamic nature of IoT devices in the network and the security analysis will also be discussed in the paper.