First, you MUST BE LOGGED INTO YOUR ACCOUNT.
Once, you have LOGGED IN-
CLICK "Domains" from the Main Menu,
CHOOSE "My Domains" from the Drop Down Menu,
Now, FIND your DOMAIN NAME on the RIGHT HAND SIDE of the screen and Click on the "Manage Domain" Button next to the Domain Name that you want to Manage.
Then, Click on the "Management Actions" Tab, and choose "Get EPP Code".
It will be Emailed TO the REGISTRANT (WHOIS) Email Address on file - If you are not getting your Auth / EPP Code within 5 minutes - The First thing you should do - is Check and / or Update the Registrant Email Address: http://www.hostingcheck.com/whmcs/knowledgebase.php?action=displayarticle&id=13