Take a look in /home/<user>/.ssh to see if you already have your public key file id_rsa.pub. If not run:

ssh-keygen

Choose the default location and pass (press enter without making changes) and you should now see the id_rsa.pub file. Now add the contents of the public key file into /home//.ssh/authorized_keys on the remote server, you should create this file if it doesn't exist and then chmod it to 600:

chmod 600 authorized_keys

Now test that you can ssh to it without entering a password:

ssh <user>@<host>

My example would be:

ssh pi@192.168.1.73

If you’re still having to enter the password (this happens sometimes), try the following on your remote server:

chmod 700 $HOME/.ssh
chmod go-w $HOME $HOME/.ssh
chmod 600 $HOME/.ssh/authorized_keys
chown `whoami` $HOME/.ssh/authorized_keys

This fixed it for me in the past and you should now be able to ssh without a password,