Many SSH clients supports “key agent” or “authentication agent”, which holds private key for you, and ease the authentication process.

By default, OpenSSH does not enable this. You can easily use ssh-agent(1) to accomplish the mission.

ssh-agent startx

The above command will start X session with ssh-agent. This means that you can add private key to the agent.

ssh-add ~/.ssh/id_dsa

Add your own ssh key.

Then ssh authentications will be accomplished automatically. Note that you may need to use ssh -A in certain configurations.