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First, you'll need to make sure the remote server contains the file:

~/.ssh/authorized_keys

If the file does not exist, use these commands to create the remote SSH directory and authorized_keys file:

mkdir -p ~/.ssh
touch ~/.ssh/authorized_keys

Now, copy your id_rsa.pub file on your local device over to the remote device

scp ~/.ssh/id_rsa.pub username@remoteserver.domain.com: