VNC connection to Raspberry Pi "Unknown authentication scheme from VNC server: 13, 5, 6, 130, 192"

Trying to connect to VNC on Raspberry Pi 4b from Ubuntu gives the following error: 

Unknown authentication scheme from VNC server: 13, 5, 6, 130, 192

In VNC Server on Raspberry Pi 3

Go to the options on the VNC Server on Raspberry Pi 3 and you should have the sudo credentials when you started VNC server

Change the security authentication to VNC Password as shown belowVNC Options

Finally you need to add a user to use it to connect. In my case I created an administrator user (default username was admin)

In Remmina on Ubnutu

You will create a new connection with the given IP address of the Raspberry Pi on your local network (you should be able to know it using ifconfig) and using the admin user credentials created on VNC server as the following: Remote Desktop Preferences