During the optional Concern for Nulfaga quest from Aubk'i, Nulfaga says in her usual way, during her rambling, that "I tell the door to my soul to shut up". You're supposed to be able to figure out that that's the password yourself; games back then didn't just tell you things straight out all the time, after all.
She does actually tell you specifically and directly at the very end of the main quest, actually, although by then it's obviously kind of useless.