SSH Without a Password

Client
Steps: For SSH Without a Password

On the client run the following commands:
$ mkdir -p $HOME/.ssh
$ chmod 0700 $HOME/.ssh
$ ssh-keygen -t dsa -f $HOME/.ssh/id_dsa -P ''

This should result in two files,
$HOME/.ssh/id_dsa (private key) & $HOME/.ssh/id_dsa.pub (public key).
Copy $HOME/.ssh/id_dsa.pub to the server.

Server:
On the server run the following commands:
$ mkdir -p $HOME/.ssh
$ cat id_dsa.pub >> $HOME/.ssh/authorized_keys2
$ chmod 0600 $HOME/.ssh/authorized_keys2

Depending on the version of OpenSSH the following commands may also be required:
$ cat id_dsa.pub >> $HOME/.ssh/authorized_keys
$ chmod 0600 $HOME/.ssh/authorized_keys

An alternative is to create a link from authorized_keys2 to authorized_keys:
$ cd $HOME/.ssh && ln -s authorized_keys2 authorized_keys

On the client test the results by ssh'ing to the server:
$ ssh -i $HOME/.ssh/id_dsa server

(Optional) Add the following $HOME/.ssh/config on the client:
Host server
IdentityFile ~/.ssh/id_dsa
This allows ssh access to the server without having to specify the path to the id_dsa file as an argument to ssh each time.