Login From Another Page on Separate Server

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Confusing enough title? Basically my company has an intranet page that users login to and can look at various documents and such. There is also a button for Webmail. With other systems suchas AtMail and Twig I could swipe the username and password of the user and automagically login to these systems. With RoundCube I can set the variables but I continually get the message "Your browser does not support cookies."

I am wondering if anyone has successfully done this? It seems like the problems lies in the fact that the intranet lives on a different server than the webmail. Something like a header is already sent from the intranet server and the cookie can't be sent properly. I don't know, I'm really just thinking out loud. Any help is much appreciated.

-Tom