1. On the client machine use ssh-keygen -t dsa
2. This will create two files in ~/.ssh: id_dsa and id_dsa.pub
3. Copy the contents of id_dsa.pub into the file authorized_keys under ~/.ssh on the server machine
4. Make sure you have the permssions set correctly. Your home directory should be writable only by you, ~/.ssh should be 700, and authorized_keys should be 600.
5. See the following post for debugging clues, if necessary:
http://blog.codefront.net/2007/02/28/debugging-ssh-public-key-authen
