Setting up passwordless ssh to a remote machine

Type

ssh-keygen -t dsa

on your local machine. That will create two files,

id_dsa
id_dsa.pub

On the local machine,
Create the directory ~/.ssh if it doesn't exist.
Move id_dsa to this directory.

Copy id_dsa.pub to the remote machine.

On the remote machine,
Create the directory ~/.ssh if it doesn't exist.

If the file ~/.ssh/authorized_keys exists, append id_dsa.pub to this file.
Otherwise, just rename id_dsa.pub to ~/.ssh/authorized_keys