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Open a command/terminal window and enter:

ssh-keygen -t rsa

If there is a need for a 4096 bit key, use the command

ssh-keygen -t rsa -b 4096

Example Output:

Generating public/private rsa key pair.
Enter file in which to save the key (/Users/username/.ssh/id_rsa):

To accept the default filename of id_rsa, press Enter or Return.

Password:

Enter a password at the prompt and press Enter or Return. If you press Enter or Return without entering a password, the generated private key will not be password-protection.

Your private and corresponding public keys will be created and stored at:

~/.ssh/id_rsa
~/.ssh/id_rsa.pub

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:

On the remote system, add the contents of the copied id_rsa.pub key to the authorized_keys file:

cat ~/id_rsa.pub >> ~/.ssh/authorized_keys

To check the contents of the authorized_keys file:

more ~/.ssh/authorized_keys

ssh username@remoteserver.domain.com

For example:

ssh username@yoshi.ece.utexas.edu