Create private/public key

ssh-keygen

On the client

-> put the private key (id_rsa) into ~/.ssh/
-> chmod 700 ~/.ssh
-> chmod 600 ~/.ssh/id_rsa

On the server

-> append the public key to ~/.ssh/authorized_keys
-> chmod 700 ~/.ssh
-> chmod 600 ~/.ssh/authorized_keys

Initiate connection

ssh -i ~/.ssh/id_rsa user@remoteserver