SMTP Response Message

I tried to send mail by connecting to my ISP's SMTP server using telnet
The initial exchanges (HELO ...etc) worked
but MAIL TO: didn't work ...... it gave the following msg (550 5.7.1 Relaying not allowed: )
I'm thinking it becoz i'm not authenticated with the server yet .... is that why ..... could someone tell me the proper steps involved in sending a mail this way ..... (including auth) ... thanking you

recv 55 bytes 220 -- Server ESMTP (*)
recv 55 bytes 250 OK, [].
recv 23 bytes 250 2.5.0 Address Ok.
recv 62 bytes 550 5.7.1 Relaying not allowed:
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