I have an external application that has a bunch of information to create new Lead objects. As well I've created a RestResource Apex class that is mapped to URLs on the salesforce instance for my client's Org. This RestResource allows basic CRUD operations on the Lead object. The point I'm not clear on now is how to authenticate my server application using OAuth2 in order to call the urls for my RestResource class.
I was looking at the Connected Apps page in my Org and it looks like this is just for creating web flows for OAuth. How do I begin to authenticate programmatically to get an access token to hit the Resource URLs? Or is there something else I need to do? The hard requirement is that there won't be user intervention to authorize the server application.