Open your favorite terminal emulator and type
ssh-keygen -t dsa
(simply enter on whatever it asks you)
ssh-copy-id -i ~/.ssh/id_dsa.pub [email protected]
if it fails (you don't have ssh-copy-id) do
cat ~/.ssh/id_dsa.pub | ssh [email protected] 'cat >> ~/.ssh/authorized_keys'
give your password and you are ready to go
it should log you in without asking for a password