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Enter your ssh public key in the remote end for future key-based authentication. Just type your password one last time. The next time you should be able to login with the public key. If you don't have a key, generate one with ssh-keygen.
Requires Bourne-compatible shell in the remote end.
There is 1 alternative - vote for the best!
If you can do better, submit your command here.
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ssh-copy-id is another option; it's not part of OpenSSH, but is often available on different Unixes.
I'd recommend something more akin to:
cat .ssh/id_dsa.pub | ssh elsewhere "[ -d .ssh ] || mkdir .ssh && cat >> .ssh/authorized_keys"
Note the "&&" in place of the original ";"; this way, if the "mkdir" fails (say, if "/home" is out of space), the final "cat" won't be attempted.