how to use X-www-form-urlencoded in rest receiver channel in PI/PO

Hello All

need some in help in configuring the REST receiver channel with X-www-form-urlencoding.

We need to send the user id and password and request payload in the url encoding as key parameters,
I tried to send the id and password in authentication tab and payload as RAW message is failing with 401 error.

Please help me configuring the channel. Thank you.