Key exchange

You are on A you want to ssh into B

Generate keys on A ssh-keygen -t rsa -f keyfilename

Copy Public key to B (.ssh/authorized_keys) something like ssh-copy-id -i publickeyfile user@B

Use Private key in A .ssh/config looks like this

Host B
IdentityFile privatekey
Port 22
RSAAuthentication Yes
ForwardX11 yes
ForwardAgent no