For me personally, this is the easiest way, it sounds like you already have your client keys made, but will put it all in for future people that stumble upon this thread....
On your client machine, run the following..
(You can put in a passphrase if desired, I would recommend it)
you can run ls to verify your keys are in there.
ssh-copy-id -i id_rsa.pub user@host
**Note- user@host example would be firstname.lastname@example.org (where 10.1.1.1 is the remote IP and joe is the remote user you want to login as without using a password) This will prompt your for email@example.com's password to verify and from there on out it will not prompt you for a password when you ssh to firstname.lastname@example.org. If you created a passphrase for your client keys, it will prompt you for the passphrase you created when you issue #ssh email@example.com not the "password"
I hope that all made sense. Another note, you may also use DSA rather than RSA if you prefer, just substitute "dsa" where I put "rsa"