Fortunately NGINX makes this process very easy - when setting up a client certificate on NGINX we must also ensure (as usual) that the relevant server key and certificates are defined and then add the 'ssl_client_certificate' which should point to the public key provided by the Amazon API Gateway portal.
ssl_certificate /etc/nginx/certs/server.pem;
ssl_certificate_key /etc/nginx/certs/server.key;
ssl_client_certificate /etc/nginx/certs/ca.pem;
ssl_verify_client on;
On apache / httpd you will need something like the following:
SSLVerifyClient require
SSLCACertificateFile /etc/nginx/certs/ca.pem
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