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Configuration using most of the defaults

Generate public/private key pair on the local host providing input for all prompts interactively:

ssh-keygen

Copy the public key to the remote host:

ssh-copy-id remote_hostname

Test key-based authentication:

ssh remote_hostname

Configuration using specific remote user and key type

Generate:

ssh-keygen -t dsa

Copy:

ssh-copy-id -i ~/.ssh/id_dsa remote_username@remote_hostname

Test:

ssh -i ~/.ssh/id_dsa remote_username@remote_hostname