Generate an RSA key and copy the public version of that key to the remote server as follows:
Create a key set
If you already have a key set up then you can ignore this step.
In the terminal enter:
ssh-keygen -t rsa
Accept the default location and add a custom passphrase when prompted.
Copying your public key to the remote server
cat ~/.ssh/id_rsa.pub | ssh user@machine "mkdir ~/.ssh; cat >> ~/.ssh/authorized_keys"
user is your username and
machine is the IP address of the remote server.