Authentication is an important requirement in various applications to restrict the non-legitimate access to certain resources. Radio Frequency Identification (RFID) technology helps to perform the authentication task. The detection probability of an object during the authentication process can be increased using multiple number of RFID tags in the object. However, many security risks such as eavesdropping, location privacy etc. are involved in this technology. This paper proposes a secure and lightweight authentication scheme assuming the objects are attached with multiple number of RFID tags. Proper analysis has been carried out to evaluate the security of the proposed scheme, including comparison with a few existing schemes in terms of computation, communication and storage requirements.