Basically you just
- configure ssh server (sshd) so it can allow logins, but try to make it as secure as you can (deny root logins etc.)
- configure your ssh client if you want to, defaults are often enough
- generate keys and whatever you might need
- ssh just the way you'd do it to a Linux machine; "ssh user@host", if the ssh port is set to the default value (22) on the server; otherwise you would need to specify the target port also when connecting.
- if connection fails, check that firewalls don't block you away