Subscription-manager registration fails with “Unauthorized: Invalid credentials for request” when system previously registered to Satellite

Issue

• Running subscription-manager register command returns with the below errors.

  # subscription-manager register 
  Registering to: <Satellite_URL>:443/rhsm
  Password:
  Unauthorized: Invalid credentials for request.
  

• Facing error Unauthorized: Invalid credentials for request when registering system to Customer Portal.

• How to register a system to Customer Portal which was previously registered to Satellite?