How to Resolve the Certificate Error with Selenium Webdriver?

IE :

driver.get("yourwebsite url that had certificate error");
driver.navigate().to("javascript:document.getElementById('overridelink').click()");
Thread.sleep(5000);

FIREFOX:

DesiredCapabilities capabilities = new DesiredCapabilities(); 
capabilities.setCapability(CapabilityType.ACCEPT_SSL_CERTS, true); 
driver= new FirefoxDriver(capabilities);
driver.get("yourwebsite url that had certificate error");

Chrome:

DesiredCapabilities capabilities = DesiredCapabilities.chrome();
 capabilities.setCapability(CapabilityType.ACCEPT_SSL_CERTS, true); 
 System.setProperty("webdriver.chrome.driver", "path to file chromedriver.exe");
 WebDriver driver = new ChromeDriver(capabilities);
 driver.get("yourwebsite url that had certificate error");