By changing the setting of FirefoxProfile.
 
ex-
public class HTTPSSecuredConnection {
            public static void main(String[] args){
                        FirefoxProfile profile = new FirefoxProfile();
                        profile.setAcceptUntrustedCertificates(false);
                        WebDriver driver = new FirefoxDriver(profile);
                        driver.get(“https://184.106.253.74”);
          }
}

Source: http://selenium-makeiteasy.blogspot.com