$ ssh-keygen

$ ls -al .ssh/

you should have an output similar this;

drwx------ 2 test msm 512 Jun 3 16:11 .

drwx--x--x 55 test msm 3584 Jun 3 16:11 ..
-rw------- 1 test msm 736 Jun 3 16:11 id_rsa
-rw------- 1 test msm 613 Jun 3 16:11 id_rsa.pub

copy to remote host which you want to access;

$scp id_rsa.pub <user>@<ip of remote host>:./id_rsa.pub

At remote host;

$ mkdir .ssh
$ chmod 700 .ssh
$ cd .ssh
$ touch authorized_keys
$ chmod 644 authorized_keys

Add the key to authorized_keys file;

$ cat ../id_rsa.pub >> authorized_keys

now you can access without password...

ssh <user>@<remote host>